Research And Design On The Mechanism Of Bio-syncretic Walking Assisted Exoskeleton

With the improvement of people’s living standards and the development of medicaltechnology, the number of elderly people is increasing which gives the community and thefamily brought some pressure, so how to improve the ability of the elderly to liveindependently is very important. Exoskeleton technology is a new type of robottechnology to assisted human movement. It has been widely used in the field of helpagewalkers to improve the body’s ability of lower limb movement. This paper based on thehuman gait analysis, do research on assist the elderly to walk, including its mechanicalstructure design, analysis, kinematics and dynamics of human-machine hybrid institutions.Firstly, on the basis of study on the lower limb movement of the elderly, the analysisof the gait of the elderly, through the analysis of the elderly people walking video,obtaining the walking trajectories of lower limb joints of the human body through curvefitting. On this basis, proposing the design requirements of the exoskeleton and designingthe mechanical mechanism.On the basis of human gait analysis, human walking kinematics model is established,then using the method of D-H parameters kinematics analysis, get the movement of eachbar, Newton-Euler method is used to analyze its dynamics and driving force of each joint,analyzing the theoretical model calculation and combined with numerical examples. Thenthe kinematics model of the organization of the man-machine hybrid is established,analyzing its inverse solution, then using the influence coefficient method get the velocityand acceleration of each joint.At last, on the basis of kinematic analysis and statics analysis of the man-machinehybrid mechanism, establish a mechanism of static equilibrium equation, the influencecoefficient method is used to analyze the redundant driving forces of RRR branch branch,and optimize the driving force of the redundant drive, through a numerical example, theredundant driving and driven by the redundant driving force of the RRR branch andcomparative analysis of the power of the joints. Using the virtual work principle of theorganization of the redundancy of the dynamic model of driving force and the optimization of redundant institutions after the dynamics analysis, get the optimizedvarious driving forces driving force of the joints and joints. To build a virtual prototypeusing ADAMS software, the kinematics and dynamics simulation analysis.