Version problem

[tianlaihuiyin]

Can you save a Simulink model for a low version (for 2016a)?

[tianlaihuiyin]

Can you send me this essay?" M.Dekker et al. An inverse Kinematics-based foot placement controller for a six degree of freedom lower extremity exoskeleton, 2015." E-mail 13120054@bjtu.edu.cn

[tianlaihuiyin]

Do you have segmentlengths_function？

[DamienG2]

function [lthigh,lshank,hfoot,lfoot,lheel,wpelvis,r1,r2,m1,m2,l,omega_0,Xp,trunklbd,M_SM,mshank,mthigh]=segmentlengths_function(L,M,f,kankle,g,KFE)

%% Segment properties from Drillis,Contini,Bluestein, according to Harless % 1 = head % 2 = trunk upper % 3 = trunk lower % 4 = arm upper % 5 = arm lower % 6 = hand % 7 = thigh % 8 = shank % 9 = foot relative_lengths = [121.35; 232.15; 92.8; 195.9; 164.8; 114.65; 256.00; 237.7; 46.35]; relative_weights = [73.16; 358.41; 100.00; 30.70; 17.04; 8.07; 115.00; 44.41; 19.01]; relative_CoG = [0.361; 0.497; 0.518; 0.430; 0.410; 0.359; 0.500; 0.469; 0.436]; absolute_CoG = [43.530; 276.585; 413.000; 235.245; 403.548; 606.738; 570.363; 841.680; 974.955];

%% Kinematic parameters lthigh = Lrelative_lengths(7)/1000; lshank = Lrelative_lengths(8)/1000; hfoot = Lrelative_lengths(9)/1000; wpelvis = L0.175/1.80; % lfoot = L0.1525; lfoot = L0.2/1.65; lheel = L*0.04/1.80;

%% Kinetic parameters mshank = Mrelative_weights(8)/1000; mthigh = Mrelative_weights(7)/1000;

%% hip height hh_1 = sum(relative_lengths([1 2 3])); hh_2 = absolute_CoG(3)+(1-relative_CoG(3))relative_lengths(3); hh_3 = absolute_CoG(7)-relative_CoG(7)relative_lengths(7);

hh = hh_1;

%% shoulder height sh_1 = relative_lengths(1);

sh = sh_1;

%% Arm lumped retraction = 1; retraction_arm = retraction; arm_weight = sum(relative_weights([4 5 6])); arm_length = retraction_armsum(relative_lengths([4 5 6])); arm_CoG = ( relative_weights(4)( relative_CoG(4)relative_lengths(4) )+ relative_weights(5)( relative_lengths(4) + relative_CoG(5)relative_lengths(5) )+ relative_weights(6)( relative_lengths(4) + relative_lengths(5) + relative_CoG(6)relative_lengths(6) ))/ sum(relative_weights([4 5 6]))/ sum(relative_lengths([4 5 6])); arm_gCoG = sh + arm_CoGarm_length;

%% Leg lumped
% retraction = (0.85-0.02)/0.85 % The shortening of leg, defined as 0.03 [m] clearance at leg length 0.85 [m] swleg_weight = sum(relative_weights([7 8 9])); swleg_length = retraction(sum(relative_lengths([7 8 9]))); swleg_CoG = ( relative_weights(7)( relative_CoG(7)relative_lengths(7) )+ relative_weights(8)( relative_lengths(7) + relative_CoG(8)relative_lengths(8) )+ relative_weights(9)( relative_lengths(7) + relative_lengths(8) + relative_CoG(9)relative_lengths(9)))/ sum(relative_weights([7 8 9]))/ sum(relative_lengths([7 8 9])); swleg_gCoG = hh + swleg_CoGswleg_length;

%% Upper body & swLeg CoM % From absolute CoG CoM_1 = sum(absolute_CoG([1 2 3 4 4 5 5 6 6 7 8 9]).*relative_weights([1 2 3 4 4 5 5 6 6 7 8 9]))/sum(relative_weights([1 2 3 4 4 5 5 6 6 7 8 9]));

% From relative CoG, with retraction of arms and swleg CoM_2 = ( sum(absolute_CoG([1 2 3]).relative_weights([1 2 3]))+ 2arm_weight( sh + arm_CoGarm_length ) + swleg_weight( hh + swleg_CoGswleg_length ) )/ ( sum(relative_weights([1 2 3])) + 2*arm_weight + swleg_weight );

%% Stance leg l_stleg = sum(relative_lengths([7 8])); m_stleg = sum(relative_weights([7 8]));

sCoG_stleg = (relative_weights(7)(relative_CoG(7)relative_lengths(7)) + relative_weights(8)(relative_lengths(7)+relative_CoG(8)relative_lengths(8)))/sum(relative_weights([7 8]))/sum(relative_lengths([7 8]));

%% xCoM parameters l = sqrt(lshank^2 + lthigh^2 - 2lshanklthighcos(pi+KFE)) + hfoot; r1 = l(1-sCoG_stleg); r2 = (hh-CoM_2)/1000L; m1 = Msum(relative_weights([7 8]))/1000; m2 = M*sum(relative_weights([1 2 3 4 4 5 5 6 6 7 8 9]))/1000;

L_LIPM = (l^2 + lr2 + lr2f + r2^2f + m1/m2r1^2)/(l + r2f + m1/m2r1 - kankle/(m2g)); omega_0 = sqrt(g/L_LIPM); C = KFE + asin(lshank/lsin(pi+KFE)); Xp = 0 - kankleC/(gomega_0)(l+r2f+m1/m2r1)/(1+m1/m2)/(l+r2f+m1/m2r1 - kankle/(m2*g));

%% SimMechanics trunk segment properties CoM_SM_rel = ( sum(absolute_CoG([1 2 3]).relative_weights([1 2 3])) + 2arm_weight( sh + arm_CoGarm_length ))/ ( sum(relative_weights([1 2 3])) + 2arm_weight); M_SM = (sum(relative_weights([1 2 3])) + 2arm_weight)/1000M; CoM_SM = (hh-CoM_SM_rel)/1000L;

wtrunk = 0.1861L; trunklbd = [2CoM_SM,wtrunk,M_SM/(10002CoM_SMwtrunk)]; rthighshank = sqrt(M.relative_weights([7 8]) ./ (1000.pi.L.*relative_lengths([7 8])));

[tianlaihuiyin]

there are some errors 1) In "Initialisation_ctr_10DOF_fin.m", the line 110 : LoadParametersSimMechanics is not defined 2)In "Control_model_10DOF_fin.slx" : 'Failed to load library 'FootPlacementLibrary ' referenced by'

[DamienG2]

I added the library "FootPlacementLibrary2012b" that you can download.

[tianlaihuiyin]

Thank you very much!

[QuietZixi]

Can you send me this essay?" M.Dekker et al. An inverse Kinematics-based foot placement controller for a six degree of freedom lower extremity exoskeleton, 2015." Email：mengyang@hust.edu.cn

[Nara0731]

M.Dekker et al. An inverse Kinematics-based foot placement controller for a six degree of freedom lower extremity exoskeleton, 2015. I cannot find the paper. Can you send me this one? Email: 281183720@qq.com Thank you

[jiguang1]

M.Dekker et al. An inverse Kinematics-based foot placement controller for a six degree of freedom lower extremity exoskeleton, 2015. I cannot find the paper. Can you send me this one? Email: [2422538041@qq.com] Thank you

[Nara0731]

你好，我已收到你的来信。若有重要事情，请短信告知！