Name
Abstract | ||
|---|---|---|
This paper presents a torque testing platform for variable stiffness evaluation of knee joint exoskeleton, a testing platform was designed based on the body size of a normal adult. It includes mechanical structure, control system and data acquisition. The mechanical structure is mainly composed of a stepper motor, a guide screw, a displacement sensor, a force sensor as well as thigh and calf models. A controller and Data Acquisition Board (firmware NI USB-6009) were used to control stepper motor and collect data. According to the equation of static equilibrium, a mechanical model of the platform was built to calculate disturbance torque and angle of exoskeleton joints. The joint angle measurement range of the platform is from 42 degrees to 180 degrees and the maximum tested torque value is 40 Nm. Finally, a test about tension spring was conducted illustrating that variable stiffness performance of joints can be evaluated by this device. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1007/978-3-030-89095-7_67 | INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT I |
Keywords | DocType | Volume |
Torque testing platform, Variable stiffness, Exoskeleton | Conference | 13013 |
ISSN | Citations | PageRank |
0302-9743 | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhuo Ma | 1 | 0 | 0.68 |
| Baojun Chen | 2 | 0 | 0.34 |
| Jianbin Liu | 3 | 1 | 1.38 |
| Siyang Zuo | 4 | 0 | 0.68 |