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相关概念视频

Simplification of a Force and Couple System: II01:23

Simplification of a Force and Couple System: II

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In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
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Three-Dimensional Force System01:30

Three-Dimensional Force System

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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Machines: Problem Solving II01:30

Machines: Problem Solving II

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Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
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Frames: Problem Solving II01:26

Frames: Problem Solving II

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Consider a hydraulic hoist supporting a load of 1 kN. Assuming a simplified schematic representation of this frame structure, the force acting on BD and BF members can be determined.
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

667
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
667
System of Forces and Couples01:16

System of Forces and Couples

417
In the analysis of structural systems, it is common to encounter members subjected to various forces and couple moments. Simplifying these systems can make the analysis more manageable and easier to understand. One approach to achieve this simplification is by moving a force to a point O that does not lie on its line of action and adding a couple with a moment equal to the moment of the force about point O.
The principle of transmissibility plays a crucial role in this process. According to...
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相关实验视频

Updated: Jul 7, 2025

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
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用动态脱坐标系统和最小能量假设对人类外骨系统进行地面接触力和时刻估计.

Hongwu Li1, Haotian Ju1, Junchen Liu1

  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.

Biomimetics (Basel, Switzerland)
|December 22, 2023
PubMed
概括

这项研究提出了一种新的无传感器方法,用于估计外骨脚与地面的接触力和时刻 (CFM). 这种方法显著减少未知数,使CFM能够准确估计,并降低外骨的开发成本.

关键词:
动态解坐标系的坐标系外骨架 (exoskeleton) 是一个外骨架.地面接触力和时刻估计估计.最低能量假设的最低能量假设.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物力学 生物力学
  • 传感器技术 传感器技术

背景情况:

  • 估计脚与地面接触力和时刻 (CFM) 对于外骨关节时刻计算至关重要.
  • 目前的CFM检测方法依赖于昂贵,不舒服和难以制造的传感器.
  • 双支阶段呈现了许多未知的CFM组件,使精确的估计变得复杂.

研究的目的:

  • 提出一种新的,无传感器的方法来估计外骨与地面之间的接触力和时刻 (CFM).
  • 为了减少外骨发育中CFM检测相关的复杂性和成本.
  • 为了克服在双支持阶段由未知的CFM组件带来的挑战.

主要方法:

  • 开发一个动态解坐标系统 (DDCS) 来分解CFM.
  • 应用最小能量假设来优化剩余的未知变量.
  • 使用人类行走的公共数据集验证拟议的方法.

主要成果:

  • DDCS显著减少了未知的CFM组件的数量,从12个减少到2个.
  • 最小能量假设为减少未知数提供了一个可靠的优化目标.
  • 验证证实了该方法在准确估计CFM方面的能力.

结论:

  • 拟议的无传感器方法为估计底部CFM提供了一个实际的解决方案.
  • 这种方法通过消除对脚部传感器的需求,降低了外骨研究和开发成本.
  • 该方法减少了对高精度,便携式和舒适的CFM检测传感器的依赖.