The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis And Simulation

In recent years, due to the incidence of traffic accidents increased, the number of the limb injury also increases, at the same time, china is entering the aging society, in the aging population, the nervous system diseases or the cardiovascular and cerebrovascular diseases caused a lot of people hemiplegia. the rehabilitation equipment can help the limb injury patients recover the limb motor function. This paper put the wearable lower limbs rehabilitation exoskeleton as an investigative target, the main contents of the research were as follows:Based on the analysis of motion characteristics of human lower limb joints and the DOF, the paper makes the entire design scheme on the wearable lower limbs rehabilitation exoskeleton and distribute its the DOF, then the three-dimensional model was established by solid works. Direct kinematic model is built and analyzed based on the previously presented theory. According to geometric relation of lower limb joints, Inverse kinematic is solved.The Zero Moment Point (ZMP) criterion is used for the off-line gait planning of the wearable lower limbs rehabilitation exoskeleton, the trajectory of the center of mass and ankle is planned. Combined with the formula of the inverse kinematic, the function that each joint angle is changed with time is derived. Using of graphical data transfer technology, the three-dimensional model is transformed into the virtual prototype (ADAMS) model. According to the function of each joint which is got by gait planning, the each joint of the virtual prototype model is driven by spline interpolation function AKISPL, in order to achieve the wearable lower limbs rehabilitation exoskeleton stable walking. By measuring the simulation data of the gait of the each phase, The correctness of the structural design and the gait planning is verified.The trajectory of the each joint of the human lower limb is captured by three-dimensional motion capture system, in order to verify the feasibility and applicability of gait planning for humanity.