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- W2786122144 abstract "This paper designed a kind of lower limb exoskeleton robot based on medical uses. The robot aims to imitate the movement of human lower limbs and help the disabled can walk smoothly with its assistance. In the beginning, the overall design was introduced, with detailed instructions of the hip, knee, and ankle. In order to study the mechanism of the knee joint, a four-bar linkage was built to imitate the movement. With the help of Simulink, the track of the linkage was obtained. Also the Euler angle data of the four-bar linkage and the actual human body was collected by sensors while the lower limbs are moving. The result showed that the movement of linkage had a great consistency with the reality. The wave of speed is reduced by a stop screw. The micro-hydraulic power system mentioned in this paper drives the lower limb by hydraulic rod and the oil pump drives the hydraulic rod. For the hemiplegic patient, the robot uses PID control system to deal with the feedback signals collected by the sensors and then controls itself moving with the patient. The exoskeleton has a compact structure and offer great comfort for users." @default.
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- W2786122144 date "2017-08-01" @default.
- W2786122144 modified "2023-09-27" @default.
- W2786122144 title "Design and simulation analysis of a lower limbs exoskeleton powered by hydraulic drive" @default.
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- W2786122144 doi "https://doi.org/10.1109/icarm.2017.8273155" @default.
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