The Design Of A Lower Limb Exoskeleton System Of Switchable Wheel And Leg

The lower limb exoskeleton,which can help soldiers or works to assisted walk,increase their load capacity,and also can help patients with loss of walking ability support rehabilitation training.The lower limb exoskeleton which can deformation of wheel and leg is based on the lower limb exoskeleton to increase the deformable wheel,which has two motion states of exoskeleton motion state and wheel motion state.The goal of this research is to design a exoskeleton system for both legs and wheels.Firstly,the deformation wheel is researched,three deformable wheels and transmission scheme of the exoskeleton system is designed.And the principle of one of the deformable wheels is analyzed.Secondly,the human lower limb movement mechanism is designed,and based on the research results,the design requirements of the exoskeleton system are proposed,and the degrees of freedom in two motion states are allocated.Based on these analyses,the overall structure of the exoskeleton system,including the lower extremity exoskeleton structure and the wheel mechanism,are design.In addition,the two motion states of exoskeleton system is modeled and analyzed.In the exoskeleton movement state,the forward kinematics modeling and inverse kinematics modeling are performed by D-H notation and geometric method respectively,the dynamics modeling of the stance phase and the swing phase is carried out according to the human lower limb motion mechanism.In the wheel motion state,simplify the exoskeleton into a four-wheeled car model and build its kinematics and dynamics model.Finally,the exoskeleton system is described.In the exoskeleton movement state,the performance evaluation experiment consists of the exoskeleton active exercise and trajectory tracking are verified.In the wheel motion state,the acceleration performance,maximum travel speed and climbing performance are verified.