Gait Simulation Of PRMI Exoskeleton Based On Virtual Prototype

As an interactive robotic system, the exoskeleton has become one of the mostpopular research area in recent years. As a mechanical device worn outside the wearer,the exoskeleton can provide support and protection for the wearer, and help the wearercomplete his task which unable to finish by himself. Since the exoskeleton has multiplecharacteristics, it can be widely used in military, emergency relief and rehabilitation.As a wearable robot, personification design of exoskeleton and gait analysis ofhuman body becomes the key problems in this research area. This paper is based on theabove two problem, first give analysis of human lower limb waking gait, and thendesign the virtual prototype of exoskeleton, finally validate the gait simulation ofexoskeleton in co-simulation platform. The main contents of this paper are as follows:1. The dynamics model of human lower extremity in different phases is builtthrough phase division of human gait and kinematics and dynamics analysis, to providethe theory basis of the joint driving torque calculation and the mechanical model forco-simulation platform.2. The CAD model of lower extremity exoskeleton is designed based on theanthropomorphic rule, mainly discuss the personification and wearable design methods,and then complete the prototype assembly. At the same time, the virtual prototypemodel of exoskeleton is built as the interface platform of co-simulation.3. The kinematics and dynamics simulation of exoskeleton walking is finished inADAMS/Simulink co-simulation platform, and a novel algorithm for gait curvesgeneration is proposed. This algorithm can get the angle trajectory of knee joint throughhip joint, finally the simulation validation in co-simulation platform is provided.The goal of this paper is building virtual prototype of PRMI exoskeleton and PRMIexoskeleton system platform through study the gait of human lower limb, and validatingthe CAD model through simulation of PRMI exoskeleton. This paper proposes a gaittrajectory generation algorithm, and verifies the effectiveness of the algorithm in gaitrehabilitation through co-simulation method.