Design And Motion Characteristics Research Of Wearable Lower Extremity Exoskeleton Rehabilitation Robot

In order to complete the rehabilitation training for patients with motor disabilities of the lower extremities,and satisfy good human-machine coordination under the premise of ensuring the realization of functions,this paper studies the movement mechanism of human lower limbs and human gait,and compares and analyzes the active and passive degrees of freedom,driving methods,and length adjustment of lower limb exoskeleton rehabilitation robots.Considering the safety and comfort,the mechanical body structure of the lower extremity exoskeleton rehabilitation robot was designed,and the 3D design of the virtual prototype was completed.Based on the ANSYS simulation software,the static analysis of the lower extremity exoskeleton rehabilitation robot was carried out to verify the stiffness of the exoskeleton mechanical structure,and the modal analysis of the lower extremity exoskeleton rehabilitation robot was carried out to verify the stability of the man-machine system during motion.In the study,the exoskeleton robot model was simplified and the kinematics D-H model was established,and the forward and inverse kinematics analysis was carried out on it,and the relationship between the joint angle and the pose was obtained.With the help of MATLAB simulation software,the simulation model of the exoskeleton mechanical leg is established,the correctness of the forward and inverse kinematics mathematical models is verified,and the working space of the exoskeleton robot is obtained by using the Monte Carlo method.Based on the Lagrangian dynamics method,the dynamic equation of the human-machine coupling system in the walking posture is established,and the dynamic model of the ankle-foot module is added to obtain the torque expression of each joint of the man-machine system,the integrity of the dynamic model has been increased to make it more realistic.Based on the ADAMS simulation software,the virtual prototype simulation analysis of the human-machine coupling system model was carried out,and the motion curves,joint angles,and torques of each center of mass of the exoskeleton robot were obtained,and analyzed and compared the motion results of human lower limbs and exoskeleton robot,which verified the good coordination between man and machine.Finally,a data collection platform for human gait experiments was built,a human walking path was designed and processed,and the motion data of the human body during normal walking on flat ground was recorded through the motion capture system,and the data is processed and analyzed,and the angle changes of the hip and knee joints in the virtual prototype simulation results and gait experiment results are compared and analyzed,which verifies the correctness of the virtual prototype simulation analysis.