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Velocity and Force Transfer Performance Analysis of a Parallel Hip Assistive Mechanism

Published online by Cambridge University Press:  14 January 2020

Jianfeng Li ,
Leiyu Zhang Open the ORCID record for Leiyu Zhang [Opens in a new window] ,
Mingjie Dong Open the ORCID record for Mingjie Dong [Opens in a new window] ,
Shiping Zuo ,
Yandong He  and
Pengfei Zhang
Jianfeng Li
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
Leiyu Zhang*
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
Mingjie Dong
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
Shiping Zuo
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
Yandong He
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
Pengfei Zhang
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China
*
*Corresponding author. E-mail: zhangleiyu@bjut.edu.cn
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Summary

Against the backdrop of accelerated ageing around the globe, an increasing number of individuals suffer from hip motion disability and gait disorders. In this paper, the performance analysis of a novel parallel assistive mechanism with 2 DOF for hip adduction/abduction (AB/AD) and flexion/extension (FL/EX) assistance is completed and evaluated, particularly the velocity and force transfer features. The analysis shows that the assistive mechanism has advantages of fine motion assistive isotropy, high force transfer ratio and large force isotropic radius, which indicates that the parallel assistive mechanism is suitable for hip AB/AD and FL/EX assistance.

Keywords

Hip assistanceParallel mechanismPerformance analysisMotion assistive isotropyForce transfer ratio
Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020 , pp. 747 - 759
Copyright
© Cambridge University Press 2020 

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