Dynamic Characteristics Study of Human Exoskeleton Based on Virtual Prototype

  • Wen-ming Cheng
  • Fang Liu
  • Jian-bing Shao
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


This paper is concerned with the dynamic characteristics of human exoskeleton. The dynamic characteristics of the four hydraulic cylinders powering the exoskeleton are chosen to be the study objects. Numerical simulation of one typical posture, one knee down and up, is achieved by using the commercial package Matlab, ANSYS etc. The path trajectories of the exoskeleton are captured by optical motion capture system and fitted into a function of angular. This function drives the skeleton system in a simulation performed in ADAMS. The numerical results showed trends of the four hydraulic cylinder displacement curves are flat and varied. Meanwhile, the load of knee hydraulic cylinder is only 2.3% of the total weight as the skeleton being in upright position. In addition, kinetic curves of the four hydraulic cylinders trend to be flat, confirming the reasonability of the exoskeleton structure design and hydraulic cylinder setting.


Human exoskeleton Optical motion capture Gaussian Fitting Dynamics simulation 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Wen-ming Cheng
    • 1
  • Fang Liu
    • 1
  • Jian-bing Shao
    • 1
  1. 1.Institute of Mechanical EngineeringSouthwest Jiaotong UniversityChengduChina

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