Mechanical Design Of An Exoskeleton Robot Replicating The Synergistic Characteristic Of Lower Limb Movement

It has been a dream of scientists and one of the important scientific goals of the interdisciplinary frontier research of human-electromechanical integration that how to use engineering scientific methods to enhance the weight bearing capacity and walking ability of human body.The motion patterns of human lower limbs are abundant,but there are common motion synergistic characteristics among different motion patterns,and the motion of lower limbs can be reconstructed through limited motion synergistic characteristic.Aiming at this characteristic,this paper aims to put forward a kind of mechanical repetition principle of lower limbs synergistic characteristic.Based on this,the under-actuated exoskeleton robot is designed to effectively replicate the synergistic characteristics of human lower limbs while reducing the number of exoskeleton drivers and its own weight,so as to provide an experimental platform for the research on enhancing the human weight-bearing capacity and walking ability.The main research content of this paper includes:(1)From the point of view of osteology and arthrology,analyze the characteristic,forms of motion and range of motion of the joints of the lower limbs.On this basis,the human lower limb kinematics chain and related kinematics parameters were constructed(2)Human joint movement data were collected through human motion experiment and then establish joint motion data set.Principal component analysis was used to extract the synergistic characteristic of human lower limb movement and establish the mechanism of mechanical replication of human lower limb synergistic characteristic.(3)Combined with the mechanical replication principle and functional requirements of the synergistic movement of the lower limbs,complete the design of coupling mechanism of the lower limb exoskeleton drive device,and determine the models and parameters of its motor,reducer and other main components.Then,the structure design of hip,knee,ankle,foot,leg bone,trunk and other parts of the main part of the lower limbs exoskeleton is carried out,which provides the basis for the strength check.(4)Finite element analysis and simulation were carried out on a typical lower limb exoskeleton component--ankle plantar flexor/dorsal flexor connecting rod with axle,and the optimization and improvement were carried out according to the analysis results.The experiment of wearing and movement of the main part of the lower limb exoskeleton and the simulation of the movement of the lower limb exoskeleton were carried out to verify the rationality of the design of the lower limb exoskeleton and its ability to reproduce the synergistic characteristics of the human lower limb.