The Design And Experimental Research Of Human Lower Extremity Assisted Exoskeleton Robot

With the deepening of research and the continuous improvement of sensor technology and control theory,the wearable exoskeleton robot has made some breakthroughs,it is mainly applied in two major fields currently: power and rehabilitation areas.This paper studies a robotic limb assisted exoskeleton robot that can actively identify the human body's movement intentions and complete the assistance to some extent.This paper analyzes the walking gait of human body,and conducts the overall structural design of the exoskeleton robot and the selection of related components.The paper analyzes and simulates the dynamics and kinematics of the mechanism,designs a multi-sensor human motion intent discriminating system,and conducts an experimental study on the exoskeleton robot of the lower limbs.The main research contents and results of this paper are as follows:1.After related research,the body's lower limb bone structure and degrees of freedom were analyzed,and the basic parameters of the lower extremity exoskeleton robot were determined.And analysis of human lower limb CGA data,obtain the curve of the angle and moment of the joints of the human lower limb during the walking as a function of the movement,and based on this,select the appropriate DC motor and harmonic reduce.2.With the using of Solidworks 3D modeling software,the whole body of the exoskeleton robot is designed.The main designs are the hip joint and sole and its thigh,and stress simulation analysis of each component,to optimizing structural design.3.The kinematics analysis of exoskeleton robot was carried out to analyze the spatial coordinates of the robot in different positions to verify the rationality of the design.Based on the Lagrange equilibrium equation,the dynamics of exoskeleton robot is analyzed and the moment equations of each joint are obtained.Using the aforementioned human motion Angle CGA data,MALAB is used to fit the corresponding angle equation into the moment equation so as to obtain the joint drive moment curve of the exoskeleton.The torque curve obtained by the comparison and the torque curve of the walking are further analyzed to analyze the difference of the numerical values,and the rationality of the design of the exoskeleton is verified.Finally,using the Adams software,the simulation analysis of the exoskeleton robot designed to get the movement of each joint Angle and joint torque curve and the curve of human walking are compared,verified the correctness of the exoskeleton model design.4.Building the experimental platform,carried out the experiment of plantar pressure experiment,joint Angle extraction experiment and overall wearable experiment,verify the its feasibility in judging human movement intention.The experimental results show that the lower extremity exoskeleton robot is comfortable to wear,it can follow the human body movement when without power,so the structural design is reasonable.The sensor data and the human gait data have a high degree of similarity,so,it can realize the human motion intent recognition.