The Design Of Dynamic Walking Assist Exoskeleton For Hip Joint

As an auxiliary equipment which can enhance the function of the human body,exoskeleton's technology has been rapidly developed in recent years,it is a common product of science and technology and human social progress,which marks the human's exploration in the field of rehabilitation.The topic of the study is the design of dynamic walking assist exoskeleton for hip joint,as a kind of exoskeleton,it is more targeted to single joint injury compared to other exoskeletons,and more advantages in terms of price and maintenance.Therefore,the research of this subject has important practical application significance.The purpose of this study is to assist help to people suffering from hip arthritis and other diseases,which requires the hip joint exoskeleton with light weight,reliable structure,easy to manufacture,and well man-machine coordination.Based on the analysis of many international literatures,this paper summarizes and analyzes the main research directions and the key technical problems of the external lower limb exoskeleton,especially the exoskeleton of the single joint.And on the basis of ergonomics,human anatomy and kinematics,the movement mechanism of hip in the course of human walking is analyzed,and the key information such as the angle of hip joint is obtained too.It provides a theoretical basis and design basis to the structure design and parametric design of the exoskeleton.In this paper,we first discussed the design principles of hip joint exoskeleton,determined the degrees of freedom,the movement of sub-set,and the choice of drive system;Secondly,based on the above contents,the detailed design of the hip joint was made,and the three-dimensional model of the exoskeleton was established based on ergonomics,and the details of the exoskeleton were discussed.Finally,this paper used the virtual prototype analysis software ADAMS to carry on the dynamic analysis to the theoretical model of the hip joint exoskeleton,and validates the rationality of the pre-selected motor.In addition,this paper also designed the appearance of hip exoskeleton preliminarily in order to adopt a good design to reduce the user's psychological burden,and enhance their self-confidence.The design of the hip joint exoskeleton system is reasonable,easy to manufacture,easy to wear,and has good man-machine coordination,provide a reference to simplify the structure for lower limb exoskeleton,laying the foundation for the further design of exoskeleton equipment.