In order to solve poor coordination between the exoskeleton and the human leg, this article analyzed the spatiotemporal characteristics of lower limb motion using data collection from human walking gait experiments. According to the macro- and micro-motion mechanisms of the knee joint, six knee exoskeleton configurations were proposed. Combined with the analysis of gait characteristics, mathematical models for lower limb kinematics and dynamics were established and verified with numerical simulation. Using human–machine coupling simulation experiments, different knee exoskeleton devices were simulated for wear, and a configuration of the exoskeleton mechanism compatible with human knee motion was selected, which improved human–machine adaptability and coordination. This study provides a new method for studying adaptive knee exoskeletons.
Formal techniques have been used to analyze a variety of properties of interactive behaviour in a number of systems. To have a better understanding of the implicit of the interactive behaviour, it is necessary to find a general method to describe the task. In this study, we proposed a formal model to illustrate the implicit task. We validated the effect of this model by an experiment in the simulated coach bus station by receiving transition information by the holder held device. This paper analyses the whole system, the rooms, the public displays, the mobile devices and the timeliness of information in the system. The model made the interactive process clearer and provided a basic framework to study the related issues of orientation in the interactive system in the future.
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