Design And Implementation Of Simulation Platform For The Lower Extremity Exoskeleton Robot

The lower extremity exoskeleton robots,which can assist patients with limited mobility to walk and enhance the physical strength of soldiers,have gradually become one of research hotspots.They are mainly used in medical rehabilitation and military operations,and simulation technologyprovides a convenient tool for their research as a necessary means in the development of complex engineering systems.The simulation platform can reduce project expenses and speed up the research and development process,and also provide an effective reference for the development of the lower extremity exoskeleton robots.Therefore,it is an important part of the research.This thesis mainly solved the current lack of a unified simulation platform,and implemented a simulation platform for the lower extremity exoskeleton robots,including the following aspects.In the first place,according to the investigation of most robot simulation systems and the function requirement analysis of the simulation platform,this thesis proposed the overall design scheme of the simulation platform for the lower extremity exoskeleton robot.The design scheme of the lower exoskeleton robot simulation platform was proposed based on the framework of ROS-Gazebo robot simulation system.Secondly,faced with the situation that lower extremity exoskeleton robots have not a unified simulation platform for algorithm verification,this thesis realized the model simulation without physical-in-the-loop.This thesis constructed the simulation model of the human-machine system based on the mathematical modeling,kinematics analysis and joint capsule of the robot.And on this basis,the model algorithm simulation function was implemented.Moreover,for the current lower extremity exoskeleton robot simulation platforms,there is almost no interaction with the physical system data,therefore this thesis realized the interaction between the simulation model and the physical system.With the USBCAN-II device,the data interaction function between the simulation model and the AIDER system was realized.And two functional modules,the motion visualization and monitoring UI,were realized under the friendly interaction requirements.Last,in view of the lack of support for system simulation with entity-in-the-loop in current robot simulation platforms,this thesis implemented the system simulation with physical-in-the-loop.The system simulation was realized in this thesis,and it was verified by a proving experiment.The experiment realized that the human-machine syatem unilaterally stepped up the steps with both AIDER system and simulation model in the loop.The thesis designed and implemented a simulation platform for lower extremity exoskeleton robots with three primary functions: model algorithm simulation interface,simulation model interaction with physical system and system simulation with physical-in-the-loop.In order to realize the simulation platform,this thesis proposed the overall design scheme based on the framework of ROS-Gazebo robot simulation system,and verified he feasibility and correctness of each function through corresponding proving experiments.