A New Type Of Wearable Walker Robot Research

A variety of accidents, injuries and diseases makes more and more peopledisabled, and the aging of population results in huge crowds unable to walk. Forlower limb disabled and the elderly,it is of great significance to stand up and walk likea normal person. Traditional service equipments and exoskeleton robotics existing areunable to meet the desire of the disabled or the elderly to walk,also they can notrestore their confidence. Therefore, developping a service robot which can help thedisabled or elderly people walk freely is very necessary and meaningful.Funded by the National Natural Science Foundation of China, referring theresearches on service equipment,the paper conducts a research on wearable servicerobots. Wearable exoskeleton service robot is a robot designed to help the disabledand elderly people to improve their walking ability. It is fixed on the human body,driven by piston on the thighs and legs to simulate normal gait, thus making the userwalk normally. The research contents of this paper is mainly in the following aspects:(1) Based on the study of human movement mechanism of the lower limb,thispaper analyzes the structure of human lower limb and the degrees of freedom of themajor lower extremity joints.The paper determines the structure of wearable roboticwalker limb and the degree of freedom on the basis of the design requirements of newwalker robot.The gait of the new service robot is planned and parameterized throughthe analysis of normal gait.(2) The overall structure of the robot is conducted according to the designrequirements of the new service robot such as security, isomorphic, adaptability andscalability.(3) The new wearable walker robot model is determine through the design ofsize of new-style wearable walker robot and structure optimization.(4) Lower limb walker agency is designed based on ergonomic theory. Thekinematic model of the human system is built and analyzed, and the position of a jointmotion graphs is determined by Matlab programming.(5) On the basis of clear design, function and requirements, three-dimensional parts is built and assembled using3D modeling software Pro/E.(6) A three-dimensional model of the human is created in Pro\E environmentand saved as parasolid format to create a virtual prototype in ADAMS. is splinefunction-driven drive, contacts and constraints of the model are defined in ADAMS.Simulated curve can be obtained by simulation of some key parts. By comparing withthe national standards of the joint motion curve of body’s normal walking, thefeasibility of the scheme in this thesis is analyzed.