Research And Development On Walking-Assist System For Paralyzed Patients Based On Lower Extremity Exoskeleton

At present, it is the main way of functional compensation for a person with walkingdysfunction to use wheelchair and walking assist device without power. However, therequirement of wheelchair is strict to road condition in using process. Traditionalwheelchair is only fit for flat surface and is not fit for complex condition such as step.From the point of lower limb rehabilitation, it causes the paralyzed problems to sit for along time without walking such as osteoporosis and myophagism. Walking device withoutpower is widely used to avoid these problems. But it can not be used for a long time by aperson with walking dysfunction because of hypodynamia. And for the paralyzedtraditional walking device is ineffective.In order to make the paralyzed live on their own and return to the society to the mostdegree, mechanical exoskeleton technology is tried to applied in the field of auxiliaryequipment. A three dimensional modeling for walking assist system and movementsimulation research has been done on UG and ADAMS to increase the probability forsuccessful design.Firstly, in order to ensure walking assist system can shadow the movement of anoperator and reduce complexity of control system, degrees of freedom and mechanicalstructure at the each joint of walking assist system was ascertained by analysing degrees offreedom and gait of lower limbs. According to bionics theory, hydraulic linear actuator isused to imitate distribution and operating mode of main muscle when human body movingin mechanical design. A mathematical modeling of hydraulic driver and a threedimensional modeling for walking assist system have been carried out. Then a walking gait on a flat for walking assist system was planned on MATLABbasing on inverted pendulum model for bipedal gait planning by researching on humanbalance strategy.Finally, walking assist system was simulated on ADAMS. The result of the simulationwas basically the same as planned gait which can better satisfy the requirement of humanwalking and can be used as reference for developing the physical prototype of walkingassist system.