Research On The Lower-Limb Exoskeleton Assisted Robot System

With the continuous development of science and technology, the exoskeleton robot as atypical man-machine integration of power devices has been got more and more attention inthe biomedical and military fields. The Lower-Limb Exoskeleton Assisted Robot is designedon anthropomorphic ideas with the user’s legs together organically which can imitate thenormal human physiological structure and motion characteristics of the lower limb, andachieve the two coordinated movements with some research value and market prospects.Through reading the development of research on exoskeleton robots at home and abroad,analyses the lower limbs motion parameters of human body joints. The overall organization ofthe robot program is determined and analyses the heart of the knee joint instant track. afterthat a control system is designed.Lower limbs to human body movement mechanism and the main function of lower limbmovement of muscle are presented. according to the hill three elements muscle modelprinciple and man-machine integration thought, have established the lower limbs modelingand simulation analysis through the SimMechanics.The robot dynamic mathematical model is deduced base on Lagrange to establish therobot position control model, According to the mechanism of lower limb movement, a robotset SimMechanics simulation model is created which is using for the simulation analysis inthe Matlab/Simulink simulation environment. based on this, the impedance control principleand characteristics are studied, and have the simulation analysis.The Lower-Limb Exoskeleton Assisted Robot System experimental prototype isdesigned for the study, which is based on dSPACE semi-physical simulation platform.Including DC motor servo control experiments, one leg gait trajectory control experiments ofdifferent cycles under no loading and loading on, coordinated gait trajectory controlexperiment of two legs and real human experiment.