Design of Variable Stiffness Energy Storage Walking Assist Hip Exoskeleton and Simulation of Assistance Effect

Authors

Bingshan Hu, 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China;2.Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China;Follow
Ke Cheng, 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China;
Sheng Lu, 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China;
Hongliu Yu, 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China;2.Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China;

Abstract

Abstract: Passive energy storage walking assist exoskeleton makes full use of the human’s own energy, reducing energy consumption when walking. Aiming at the present passive energy storage walking assist exoskeleton adopts fixed stiffness joint, a passive variable stiffness energy storage walking assist hip exoskeleton is designed, on the base of joint energy flow characteristics in the process of people walking and the change of stiffness characteristics. The human-exoskeletons coupling model is established, and the optimal stiffness that minimizes the power consumption of the human body walking on a flat surface, as well as the total metabolism and the main thigh muscle force and power change under the variable stiffness conditions are simulated. The result shows that different stiffnesses of the exoskeleton affect the energy consumption during the wearer's walking, and the simulation with the optimal stiffness during lower limb flexion and extension, respectively, can further reduce the energy consumption. The results are an important reference for the stiffness requirements in passive exoskeleton design.

Recommended Citation

Hu, Bingshan; Cheng, Ke; Lu, Sheng; and Yu, Hongliu (2022) "Design of Variable Stiffness Energy Storage Walking Assist Hip Exoskeleton and Simulation of Assistance Effect," Journal of System Simulation: Vol. 34: Iss. 5, Article 15.
DOI: 10.16182/j.issn1004731x.joss.20-0994
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss5/15

First Page

1090

Revised Date

2021-01-25

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0994

Last Page

1100

CLC

TP391.9

Recommended Citation

Bingshan Hu, Ke Cheng, Sheng Lu, Hongliu Yu. Design of Variable Stiffness Energy Storage Walking Assist Hip Exoskeleton and Simulation of Assistance Effect[J]. Journal of System Simulation, 2022, 34(5): 1090-1100.

DOI

10.16182/j.issn1004731x.joss.20-0994