Analysis And Design Of Wearable Lower Extremity Exoskeleton

This paper researched a kind of wearable lower extremity exoskeleton robot. The exoskeleton is a mechanism which could match the human body. It relied on human motion information to control the robot, and accomplish the travel, loading and other tasks that can not be completed by people's own capacity lonely. The exoskeleton can also be used to detect human motion information, and as the rehabilitation of medical devices. Lower extremity exoskeleton robot is a kind of typically man-machine integrated system with some biped walking robots'characters.The paper summarized the research background at home and abroad, research progress and future direction of development and main contents of the research and proposal key issues needed to be resolved about wearable lower extremity exoskeleton robot through consulting papers and documents at home or abroad. And it established a lower limb bones model to analyze the kinematics, joint trajectory and other characteristics through analyzing the human body kinematics, bone surgery, the human lower limb bones skeleton features, sequence and joint functions of walking and so on.This article discussed and analyzed the configuration of lower extremity exoskeleton and kinematics, focused on the DOF selection of exoskeleton, joint position and configuration. It also made kinematics'analysis and optimization analysis of the human-machine configuration. Based on above analysis, it presented a kind method of evaluation and optimization of links parameters, analyzed and compared current typical designed-configuration of the exoskeleton. Two kinds of configurations were designed according to methods of the exoskeleton design, and analysis of the bias compensation of these programs. Then it designed the three-dimensional model of these configurations.Finally, for the design of the human lower limb bones model and the exoskeleton model, it completed human-exoskeleton model preset with the software interface under the simulation environment. And based on ADAMS software simulation, the simulation exercise research obtained the movement and errors of relevant reference points, and analyzed pose deviation of the joint reference point, constrained location optimization, and human-machine interference, links parameters optimization by limited location simulation, which effected the foot deviation by the joints of ankle arrangement. Through a more systematic simulation analysis, it came to some conclusions which provided a effective reference for the design of the exoskeleton body.