A Study On Human Lower-limb Dynamics Modeling And Walking Gait Analysis

Lower extremity exoskeleton robot has a wide range of application prospects in assisted rehabilitation,assisted mobility and expanded physical fitness.Due to the lack of sufficient understanding of the human body's natural movement patterns,the current exoskeleton system is difficult to coordinate with the human body movement,affecting or limiting the body's natural movement,increasing the body's metabolism;at the same time,for multi-joint,multi-degree of freedom exoskeleton system,more drives and complicated controls,will also affect the exoskeleton system performance and stability.This article takes the human linear walking gait as the research object,analyzes the walking movement law of the human body,uses the human body lower limb dynamic eigenvector reconstruction human body linear walking gait,and explores a new idea that may optimize the number of lower extremity exoskeleton drivers.This article takes the linear motion as the research object,analyzing the degree of freedom of each joint in the straight walk,and establishes the lower limb dynamic eigenvector of the human body that moves on the sagittal plane.According to the Chinese adult human body inertia parameter national standard on the height and weight of the binary regression parameters to obtain the system parameters of inertial,while referring to the human joint muscle stiffness values,calculated the body dynamics eigenvector information.The physical meaning of the body dynamics eigenvector is the ratio of the angle of rotation of each joint at the eigenfrequency.Based on the experimental dynamic eigenvectors and the collected walking gait data,the gait fitting coefficients of each eigenvector are inversely calculated,and the gait cycle is rationally divided,analyze the correlation coefficients of the fitting coefficients in the interval,and realize the reconstruction of the linear walking gait with lower eigenvectors.This has an instructive significance for the optimal design of exoskeleton driversCollecting electromyographic signal of related muscle to human lower limb joints degrees of freedom in sagittal plane synchronously,The relationship between the eigenvector of gait and its corresponding joint muscle is analyzed.The relationship between dynamic modality and physiological electromyographic signals was preliminarily established to provide a basis for the study of muscle coordination mechanism of the movement of limbs.