Research On Extension Design And Simulation For Lower Extremity Exoskeleton Robot’s Structure

Lower extremity exoskeleton robots (LEER) are a kind of service robots, which can be used to sustain body, improve motorial function and save physical agility. Unlike other robots, LEER works only when it is worn. With the development of robot technology, research of LEER has attracted increasing attention both at home and abroad, and is regarded as a national strategic research project by most countries.In this paper, several key technology problems existing in the research field of LEER are investigated. Inserting Kano requirement model and dynamics design theories to the extension design method is proposed and then applied to the concept design of LEER’s structure. The most remarkable advantage of the proposed method is the combination of qualitative and quantitative analysis. The main innovations of this paper are organized as follows:1. The extension design method is firstly applied to the concept design of LEER’s structure. Extension design method describes design objects using formalized models and solves contradictory problems in the design process by performing appropriate extension transformations. Compared with traditional design methods, extension design method is maneuverable and easy to be implemented by computers.2. Kano requirement model is applied to analyze and classify the requirement of users. Combining the expert’s advice, user satisfaction of different requirements can be obtained, paving a way of the further product design. This can also be an objective reference for extensible reasoning and extension transformations in the extension design, which is helpful to avoiding redundant transformations.3. A convergence evaluating approach for structure product design is proposed, by inserting dynamics design theories to the extension design method. Firstly, we perform extensible analysis and extension transformation to the basic elements. Secondly, dynamics design theories are used to choose superior design schemes. This method is applicable for solving human-computer interaction problem.4. A Self-Adaptive Exoskeleton Chair device for LEER is designed. Such device is helpful to the lower extremity hemiplegic patients wearing LEER when they sit down and stand up. Such device serves as a self-adaptive exoskeleton chair. The mechanical design has simple structure, high adaptability, reliability and driving efficiency.5. Finally, the ADAMS simulation and physical prototype experimentation is used to verify the effectiveness of the proposed method. Conclusions part of the paper describes the main research contents, innovation points and existing problems that need to be solved in future.This work provides a novel method for the LEER’s structure design. We used extension design method analyzed LEER problem from Qualitative and quantitative analysis is performed on the LEER, and extension transformations are used to solve the contradictory problems suffered in the design process. Dynamics design theory and superiority evaluation method are combined to evaluate the obtained design schemes, making extension concept design of LEER more objective and have a certain practicality.