Research Of Effects Of Lower Limb Exoskeleton On Human Gait Characteristics Based On Anybody Software

Lower limb exoskeleton is a hot spot of research in recent years.As a kind of wearable devices,it will affect the human body for a long time.However,the study of man-machine coupling relationship of lower limb exoskeleton is little,so that researching the influence on human gait characteristics is important for optimization and design of lower limb exoskeleton.Now only a few scholars at home and abroad considered the coupling relationship between exoskeleton and human.However,the study parameter is single and there is no comprehensive analysis of the inference on human gait characteristics for lower limb exoskeleton.Therefore,the research purpose of this study is using the method of test and simulation to explore lower limb dynamics parameters and muscle parameters change when walked without lower limb exoskeleton and walked on lower limb exoskeleton.Thus,the effects on gait features was understand fully.In this paper,the third generation of lower limb exoskeleton TUST-3 developed by Tianjin University of Science&Technology was used to simulated.The following research works were completed.(1)The gait experiment was carried out and the kinematic parameters of a man walking without lower limb exoskeleton was collected.(2)The human body model was built.The virtual human body model matching test was set up by human biomechanics analysis software AnyBody.(3)The man-machine system model was set up.The lower limb exoskeleton model was simplified and imported into human biomechanics analysis software AnyBody by STL format.The man-machine system model was set up by reasonable way.(4)The simulation was completed.The C3D test model was imported into the software by the motion capture data module so that the simulation analysis of walking without lower limb exoskeleton was achieved.The each lower limb joint angles tested in sagittal plane were considered to be the driver information of the man-machine system.The simulation was completed when wear the lower limb exoskeleton.(5)The changes of lower limb dynamics parameters and muscle parameters were compared when the subject walked without and with lower limb exoskeleton.The influence on human gait characteristics was explored.The results show that the walking gait on lower limb exoskeleton satisfy normal gait,so that the design purpose was achieved.Furthermore,the motion curve of lower limb exoskeleton should be as gentle as possible in order to avoid sudden strenuous exercise causing muscle strain.At the same time,in order to avoid individual muscle force uprush,the human body long measurement should be ensured accuracy as far as possible to improve the consistency with the rod length of lower limb exoskeleton.According to the results,the structure improvement and optimization of lower limb exoskeleton were proposed and it provides a new way of thinking for the design of lower limb exoskeleton.