An innovative lower extremity exoskeleton with hybrid leg structures is proposed in this paper. The compound pendulum model is applied to analyze the swing motion during walking for the wearer and the exoskeleton resp...An innovative lower extremity exoskeleton with hybrid leg structures is proposed in this paper. The compound pendulum model is applied to analyze the swing motion during walking for the wearer and the exoskeleton respectively. The expression of the resonant period for the human lower limb is obtained and the optimum stride frequency, at which the energy expenditure for walking is the least, coincides with the stride frequency of strolling well. As for the exoskeleton, the relationship between the inertial parameters and the resonant period of the hybrid leg is established. To minimize the walking energy cost for the exoskeleton, the inertial parameter design must guarantee that the resonant period of the hybrid leg coincides with the actual stride period of the wearer. The resonant period of the hybrid leg is also influenced by the scissor angle which determines the distance between the hip and the ankle of the lower extremity exoskeleton （SJTU-EX） and can be adjusted to match different stride frequencies of various motions by the proper scissor angle planning.展开更多
We report an optical spectroscopy study on LaSb, a compound recently identified to exhibit extremely large magnetoresistance. Our optieal measurement indicates that the material has a low carrier density. More inter- ...We report an optical spectroscopy study on LaSb, a compound recently identified to exhibit extremely large magnetoresistance. Our optieal measurement indicates that the material has a low carrier density. More inter- estingly, the study reveals that the plasma frequency increases with decreasing temperature. This phenomenon suggests either an increase of the conducting carrier density or/and a decrease of the effective mass of carriers with decreasing temperature. We attribute it primarily to the latter effect. Two possible scenarios on its physical origin are examined and discussed. The study offers new insight into the electronic structure of this compound.展开更多
文摘An innovative lower extremity exoskeleton with hybrid leg structures is proposed in this paper. The compound pendulum model is applied to analyze the swing motion during walking for the wearer and the exoskeleton respectively. The expression of the resonant period for the human lower limb is obtained and the optimum stride frequency, at which the energy expenditure for walking is the least, coincides with the stride frequency of strolling well. As for the exoskeleton, the relationship between the inertial parameters and the resonant period of the hybrid leg is established. To minimize the walking energy cost for the exoskeleton, the inertial parameter design must guarantee that the resonant period of the hybrid leg coincides with the actual stride period of the wearer. The resonant period of the hybrid leg is also influenced by the scissor angle which determines the distance between the hip and the ankle of the lower extremity exoskeleton （SJTU-EX） and can be adjusted to match different stride frequencies of various motions by the proper scissor angle planning.
基金Supported by the National Natural Science Foundation of China under Grant Nos 11327806 and GZ1123the National Key Research and Development Program of China under Grant No 2016YFA0300902
文摘We report an optical spectroscopy study on LaSb, a compound recently identified to exhibit extremely large magnetoresistance. Our optieal measurement indicates that the material has a low carrier density. More inter- estingly, the study reveals that the plasma frequency increases with decreasing temperature. This phenomenon suggests either an increase of the conducting carrier density or/and a decrease of the effective mass of carriers with decreasing temperature. We attribute it primarily to the latter effect. Two possible scenarios on its physical origin are examined and discussed. The study offers new insight into the electronic structure of this compound.
