The Structure Design And Simulation Analysls Of Walking Aid

Powered walking aid is the combination outcome of modern robot technology and the demand of human recovery, whose purpose is to development walking aid devices for walking function evaluation, diagnosis, recovery, walking compensatory and nursing. Although research on walking aid has relatively developed overseas, it has just started in China. So research on this topic will make significant sense for practical applications.This topic is to research wearable powered lower limbs walking aid. It will be fastened to the user, with the actuators driving lower limb joints rotate to simulate the normal human gait so that lower limb paralysis patients would stand up again.This paper summarizes the main research contents and key problems that need to be resolved about walking aid on the basis of related research background and progress. After the study of lower limbs skeletal muscle of human body, this paper analyzes the characteristics of human body gait, which provides foundation for subsequent kinematics analysis.This paper discusses the design principle of the walking aid and analysis the size, joint freedom, driving mode and human machine interface. Then mechanical structure of the model is established for motor driving and electric push rod driving scheme. Kinematics and dynamics simulation is conducted using the ADAMS software. Simulation results are used for the selection of motor and push rod. After comparing with human gait data, the simulation results verifies the rationality of structural design and the selection of driving mode. On the basis of the above analysis, the mockup of walking aid is created which provides material foundation for the design of control part.Finally, the structure model is imported to matlab for control simulation on the basis of biped walking stability analysis. After adding the PID controller, driver, sensors, etc control elements, control simulation is conducted and the simulation results can be used for subsequent design of control system.This design of walking aid has a reasonable structure and much higher operating safety, movement coordination and wear comfortableness. It can provide material foundation for subsequent study on walking stability of walking aid. Meanwhile, controlled using human motion information, this system is a typical man-machine integration system with the characteristics of biped walking. It can lay a foundation for the producibility of walking aid.