Gait Planning And Stability Analysis Of Lower Extremity Exoskeleton Robot

The problem of aging in China is becoming more and more serious,and the number of people with lower limb movement disorders is also increasing sharply.It is of great social value to develop and design an auxiliary device that can help them achieve basic motor functions for this group of people.Existing wheelchairs,crutches and other walking devices are still the first choice for people with lower limbs.These walking devices can achieve basic motor functions,but due to their own characteristics,human-machine coordination is poor,and the sports have some limitations.With the popularity of smart wearable devices,lower extremity exoskeleton robots will become another option for future generations.The lower extremity exoskeleton robot is an intelligent auxiliary device worn on the outside of the lower limbs of the human body.It can help people realize the walking function,and has high anthropomorphic and human-machine coordination.It can make the lower limb dyskinesia people resume walking function like normal people.Therefore,the research on the lower extremity exoskeleton robot will be a hot topic and has high research value.The main content of this subject was to study the walking mechanism of human beings.Based on this,a lower extremity exoskeleton robot was designed,and the external bone robot was analyzed for motion and structure optimization.In the form of active control,the trajectory of the lower extremity exoskeleton robot was planned and designed in advance,and the joints of the lower extremity exoskeleton robot were controlled based on this.The main contents of the full text were:(1)Researching on the joint structure and walking process of the lower limbs of the human body.According to the movement mechanism of the human body,the types of active joints and passive joints were determined,and the required torque for walking was calculated.The appropriate driving scheme was selected,and the three-dimensional model of the lower extremity exoskeleton robot was designed by using Solid Works software.(2)Gait planning according to the designed structure of the lower extremity exoskeleton robot.Firstly,the gait trajectory design was carried out to find out the key points in a gait cycle.The gait curve fitting was performed by MATLB software,which was used as the joint trajectory of the lower extremity exoskeleton robot.Then used the ADAMS software to carry out motion simulation,and solved each joint motion curve as the driving parameter of the drive motor.Finally,the stability of the walking process was studied.The stability analysis of the walking process of the exoskeleton robot was carried out by COG theory,and the rationality of the planned gait curve was verified.(3)Using the finite element analysis software to carry out static analysis of the external bone robot,and study the stress condition and overall vibration characteristics of the main components of the exoskeleton robot.The structural optimization design of the lower extremity exoskeleton was carried out,and the modal data of the thigh plate was obtained by modal analysis.Based on this,the topological optimization of the thigh plate was carried out to verify the feasibility of the weight loss method and the weight reduction design of the external bone.(4)Explaining the movement mode of the lower extremity exoskeleton robot.The working principle of various sensors used in the lower extremity exoskeleton robot was introduced in detail,and the control of the joint motor was briefly introduced.Finally,according to the coordinated movement between various sensors,the movement mode of the lower extremity exoskeleton robot was introduced.