Modeling Of Human-Assisted Exoskeleton System Based On Biomechanics

Since the US military implemented the exoskeleton robot project in 1960,internal researchers have continued to explore various exoskeleton robots in order to achieve the purpose of assisting mobility.However,as a wearable device that is in close contact with the human body,the performance of the exoskeleton is affected by various factors such as structure,actuators,bindings,control strategies,etc.How to evaluate the impact of changes in external bone parameters on performance becomes an external A major difficulty in the bone design process.Based on the above background,this article mainly focuses on the lower-limb assisted exoskeleton robot,and conducts research on human-machine subdivision system modeling and simulation,in order to use computer simulation technology to simulate the exoskeleton worn by humans and compare the human-machine under different design parameters.The influence of system movement.The specific research content of this article is as follows:1.Constructed a human-exoskeleton robot coupling model that can be used to simulate the effect of exoskeleton assistance: here based on the OpenSim open source framework,through the built-in human musculoskeletal model and exoskeleton robot 3D model,constraints are passed between the exoskeleton and the human body The way of simulating the interaction between human and machine,realizes the construction of the physical model of human body-assisted exoskeleton reorganization,and provides a model basis for forward dynamic simulation and motion analysis of the exoskeleton worn by the human;2.The ground reaction force affects the reaction force of muscles,ligaments and joints.Therefore,modeling of the sole-ground contact force is an essential part of predicting forward dynamic gait simulation.The method of skeletal model and motion equation to predict the ground reaction force based on kinematics data,based on dynamic contact model and optimization technology to solve the uncertainty problem of the foot support stage,based on the OpenSim framework,combined with inverse kinematics and residual volume algorithm,constructed Ground reaction force prediction model;3.Realize forward dynamic simulation based on OpenSim simulation platform,realize the calculation of muscle force and muscle metabolism value under different driving modes after wearing the exoskeleton,and evaluate the performance of the exoskeleton: the predicted ground reaction force and human-machine interaction force Acting on the human-assisted exoskeleton physical reorganization model,combined with the drive control strategy,and through forward dynamic analysis,predict the motion state of the exoskeleton worn by the human under different control strategies to verify the effectiveness of the control strategy in the exoskeleton design It provides a relatively accurate simulation environment for the design and optimization of exoskeleton.