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外骨骼机器人处于摆动相后期系统模型仿真

Xuan LUO,Meifang XIAO,Wenlong YANG,Fuji WU,Jian LI

Machine Tool & Hydraulics（2017）

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Abstract
结合人体解剖学对外骨骼机械人下肢运动进行分析,主要阐述外骨骼处在摆动相后期的运动,根据功率键合图和传递函数混合进行建模,利用SIMULINK对液压缸的压力、速度、加速度和阀芯位移进行仿真,通过仿真结果来验证系统运动的合理性.
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