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1 – 2 of 2Jintian Yun, Deqiang Zhang, Weisheng Cui, Shuai Li and Guan Miao
The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE).
Abstract
Purpose
The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE).
Design/methodology/approach
In this paper, following an introduction, the motion characteristics of the human knee joint and the design method of the exoskeleton were introduced. A kinematics model of the LLE based on cross-four-bar linkage was obtained. The structural parameters of the LLE mechanism were optimized by the particle swarm optimization algorithm. The predefined trajectories used in the optimization process were derived from the ankle joint, not the instantaneous center of rotation of the knee joint. Finally, the motion deviation of the optimization result was simulated, and the human–exoskeleton coordination experiment was designed to compare with the traditional single-axis knee joint in terms of comfort and coordination.
Findings
The lower limb exoskeleton mechanism obtained in this paper has a good tracking effect on human movement and has been improved in terms of comfort and coordination compared with the traditional single-axis knee joint.
Originality/value
The customized exoskeleton design method introduced in this paper is relatively simple, and the obtained exoskeleton has better movement coordination than the traditional exoskeleton. It can provide a reference for the design of lower limb exoskeleton and lower limb orthosis.
Details
Keywords
Joseph Bosco, Lucia Huwy-Min Liu and Matthew West
A little-known “lottery fever” has spread to many parts of rural China over the past 10 years. This is driven by participation in underground lotteries with local bookies. It is…
Abstract
A little-known “lottery fever” has spread to many parts of rural China over the past 10 years. This is driven by participation in underground lotteries with local bookies. It is called liuhecai, which is the name of the Hong Kong lottery, and is based on guessing the bonus number of the Hong Kong Mark Six lottery. Such lotteries are illegal, but are an open secret. This chapter seeks to understand the meaning of this apparently irrational lottery fever: why people participate in it, why they believe the conspiracy theory that it is rigged (and yet still participate), and why similar lotteries have emerged in both capitalist Taiwan and post-socialist China at this particular time.