Kinematics Analysis And Simulation Of Human-machine Coupled Lower Extremity Exoskeleton Robot

In recent years,the number of escorts has increased with an increase in the aging population in China,it results in,resulting in a waste of the human resources.At the same time,some workers have suffered physical problems after long-term and heavy-duty and high-frequency labor,then their quality of life are lowered.Therefore,it is considered to use lower extremity exoskeleton robots to assist workers to work,so as to reduce their labor intensity and reduce the physical strain of heavy manual workers.At present,there are many technical problems in lower extremity exoskeleton robots,Such as large size,weight,difficulty in manufacturing,and evaluation of assist performance.In this paper,based on the analysis of technical problems of the exoskeleton robot,a light and retractable,passive gas spring driven ankle exoskeleton robot was established.The muscle strength and muscle energy metabolism of the lower limbs of the human body to determine the assist effect on the human body for the lower limb exoskeleton robot.The main research contents are as follows:(1)Aiming at the problems of the current exoskeleton robot,such as large body size,and body weight,and difficulty in manufacturing,the light-duty actuators and passive driving methods were applied to design exoskeleton robots structure model in the thesis.A scalable link is used to design the thigh and lower leg for the lower limb exoskeleton robot to meet height between the 5th percentile of the height of Chinese women and the 95 th percentile of the height imension of Chinese men.(2)The kinematics and dynamics model of lower limb exoskeleton robot is established and analyzed.Based on the ADAMS,two kinds of the exoskeleton robots were simulated and compared with the walking gait data of the normal human body,which verifies the correct using the gas spring ankle of the lower limb exoskeleton robot model.(3)Based on the human motion simulation software OpenSim,a Walking coupling model(walking gait)and Running coupling model(running gait)were established,and the two models were studied as follows: First of all,the model were marked and scaled by using the scaling tool.Secondly,the two scaled models were analyzed using the inverse kinematics tool and the motion data of the better running coupling model was obtained,and the average residual force and the average residual moment of the coupling model were reduced by residual reduction algorithm.Fially,through the computed cuscle control tool,the muscle calculation and control of the two models were carried out and the muscle forces and energy metabolism of the lower limbs of the human body were analyzed.The results show that the wearable lower limb exoskeleton robot can significantly reduce the metabolic energy of the human body walking and running gait.The results show that the lower limb exoskeleton robot can help human body save labor.