Optimum Design Of Powered Lower Limb Exoskeleton System

Powered lower limb exoskeleton is the device for patients to achieve the function of walking.It can either be used as a transport for paraplegic which let them stand up again or help stroke patients to regain the ability to walk through active training.Powered lower limb exoskeleton is essentially a rehabilitation robot.As a significant branch in the field of medical robot,rehabilitation robot is the result of combining robotics and medical technology,According to the principle that central nervous system can be highly plasticity,Patients will recovery exercise capacity by active training.In order to optimize the structure of the TUST-1 which is the first generation exoskeleton of our team,include kinematic precept,drive mode and material selection which are the main tasks of this paper has been optimized.The prototype has been developed after the selected drive components has been proved that can meet the demand of the system by using ADAMS software.First of all,the paper analyzes advantages and disadvantages of mature exoskeleton products from domestic to overseas in different aspects,such as material,drive mode,movement characteristies,eontrol strategy.It also analyzes the structure of lower limbs,mechanical characteristics,locomotion mechanism about human body.Normal gait data is imported to Anybody software to find relationship between joint Angle of hip,knee,ankle and ground reaction force for determining the number and position of degrees of freedom,thereby the optimized design seheme of this system ean be determined.Secondly,mechanical parameter will be measured by carbon fiber tube mechanics test and carbon fiber tube-aluminum bonding strength test,so the size and depth of junction can be determined for providing reference to detailed design.And then,based on the bionics principle,drive mode are designed,active degree of freedom are increased on ankle joint,therefore the system can speed up the recovery of ankle joint function through muscular traction.Many section of parts are substituted for carbon fiber.The system also sets stepless adjustable mechanism to some parts such as thigh,shank,waist,and build the 3D model of exoskeleton system by Solidworks software.Then dynamics simulation of the system is conducted by using ADAMS software to certify the selected drive components meet the demand of the system.