Analysis of Energy Demand Distribution Within Anthropomorphic Systems

摘要

The paper presents the fundamentals of a synthesis approach to the gait of an anthropomorphic robot. The mathematical algorithms necessary to obtain the driving torques in the powered joints of the exoskeleton anthropomorphic robot are also presented. Driving torques are calculated for some presented gait types. From known gait characteristics the dynamics imposed on one part of the system (prescribed synergy) are determined and the corresponding synergies of the complete anthropomorphic exoskeleton-patient system are calculated. A brief summary of experimentally obtained energy data gathered by previous investigators is presented and the results of energy analysis for two adopted gait types are discussed.