Humanoid Mechanism Design And Motion Control Of Lower Extremity Wearable Exoskeleton Robot

Results of the future operations on the battlefield, will largely depend on whether the infantry can carry more high-tech equipment. From the development process, the infantry will shift from the manipulator arms as the core of an integrated system of weapons on the battlefield. And the future trend is the man and weapons subsystems, integrated helmet subsystems, computer and radio subsystem,software subsystems, protective cloth and individual soldier equipment subsystem and so on,will integrate to one package.In order to increase individual combat capability, human-centered, as well as have a high mechanical load capacity, endurance, long athletic ability, we design a robot by combining artificial intelligence and robotics machinery,which would provide human assistance. The Mechanical design refers to the human lower limb structure, which fully simulates the joints, and the distribution of freedom of human lower limb in order to achieve a great coordination of human-machine. By the analysis to the human normal walking gait, we get the trajectory of each joint and the corresponding algorithms. We perform the algorithm by Matlab to obtain the corresponding motion data of each joint, and then import that data into the built model of Adams for dynamic simulation. The simulation results of the joints provide a parameter reference for the drive selection. After the gait planning, the robot can simulate the human normal pace.The simulation results are reliable.EXO-P robot will determine the characteristics of human movement intention by collecting the pressure characteristics of the feet while people walking. Derive the robot to perform action by collecting Signal acquisition and performing corresponding algorithm. A total of16pressure sensors in the whole robot system.m. In addition, the ankle, knee and hip angle sensors added will adjust the position and orientation of the robot.In this paper, the innovative design has been made on the freedom to the configure of the structure, and Ethercat is used for multi-axis synchronization control.The second-generation prototype exoskeleton robot has been made and can achieve manned movement.