封面
声明
英文摘要
中文摘要
致谢
目录
List of Figures
List of Tables
Chapter 1 Intro duction
1.1 Motivation of this thesis
1.2 State-of-the-art exoskeletons
1.3 Introduction to continuum structures
1.4 Research ob jectives
1.5 Organization and contributions of this thesis
Chapter 2 Kinematics and Statics of the Continuum Structure
2.1 Modeling assumptions
2.2 Nomenclature and coordinate systems
2.3 Actuation kinematics
2.4 Task space kinematics
2.5 Statics of the continuum structure
2.6 Summary
Chapter 3 System Design of the Exoskeleton
3.1 System overview
3.2 Design of the continuum brace
3.3 Designs of the actuation unit
3.4 Digital control system
3.5 Summary
Chapter 4 Exp erimental Validation
4.1 Overview of the experimental setup
4.2 Experimental results on the mockup arms
4.3 Experimental results on a skeleton model
4.4 Summary
Chapter 5 Conclusion
5.1 Results and conclusions
5.2 Recommendations for future development
参考文献