| Lower extremity exoskeleton robot is a kind of mechanical equipment which is wearied on the outside of the body.It is a combination of advanced robot technology and medical rehabilitation field.In this paper,a lower limb rehabilitation robot was designed for patients with lower limb dysfunction,which aims to drive them walking upright and stable.The following work was completed by grasping the current method of structural design,robot motion analysis and gait planning,and comprehending the development status at domestic and overseas in related fields such as rehabilitation medicine,exoskeleton robotics,anthropomorphic bipedal robotics and so on.1.Exoskeleton system structure design:basing on the national standard statistic data of human body height,a low-density aluminum alloy exoskeleton robot was designed by solid-works software,which has forward walking and small-scale moving obstacle avoidance function.It can be widely used to the crowd with any shoulder height,leg length,waist circumference in height range of 150cm-190cm,and 100kg weight limit.It was derived by disc-type servo motors.It has high safety factor and high coaxial between the exoskeleton robot and the human body lower limb joints,because the movement range will not beyond the human movement limits,and not be affected by environmental.2.Kinematics and dynamics analysis:the 6-DOF D-H model of bilateral lower limb of the robot was established basing on the D-H coordinate transformation method,and the forward and inverse kinematics models were obtained and validated by the MATLAB Robotics toolbox.The Lagrange method was used to analyze the dynamics of the system and provide the basis for the control system.3.Exoskeleton robot gait planning:a walking scheme with good human body motion and good stability was obtained basing on the ZMP stability theory and the gait planning method based on the polynomial mathematical model.Finally,an online gait adjustment scheme based on ZMP theory was presented. |
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