Research On Modeling And Simulation Experiment Of The Lower Extremity Exoskeleton Robot

As a wearable mechanical device, the exoskeleton robot on one hand couldfollow human’s motion by detecting the motion information to bear the load for thehuman and reduce human’s heaviness. On the other hand, it also could drive thebody motion for rehabilitative training through gait planning. Hence, exoskeletonrobot has broad application prospects in the field of military operations, disasterrescue, and rehabilitation therapy etc. This thesis carried out an exploratory researchof the lower extremity exoskeleton robot, which involved the following aspects：In view of the anthropomorphic design requirements of the exoskeleton robot,we formulated the whole design schedule through the study of physiologicalstructure of human lower limb combined with the simulation analysis method, Therobot designed by us had the following characteristics: the structure size wasadjustable, the degrees of freedom was in an anthropomorphic distribution and thejoint was with a flexible drive.As the exoskeleton robot needs to be worn on a person’s body, they are incooperative motion with each other. We should design the drive unit according to themovement of human body. Through establishing a human biomechanical model, weanalyzed the gait of human in the walking process and studied the effect ofweight-bearing on joint’s output torque under different conditions, which providedthe basis for the design of the drive unit.In order to analyze the motion characteristics and joint’s driving torqueinformation of the exoskeleton robot, we built the kinematics and dynamics modelof the robot, which were validated through Adams software simulations.To ensure that the robot could follow the human’s motion in a stable and rapidway and then achieve passive walking, the interactive force between the robot andhuman was considered as a control target and the closed-loop control system modelwas presented. Firstly, we proved the stability of the control method, and then weverified the performance of the control system and the effect of walking assisting ofthe exoskeleton robot using simulation method. In addition, a further research on theproblem that how to control the robot moves along a given trajectory was carried out,we designed the controller which made the robot walk precisely along the givengait.On the basis of the study mentioned above, we developed a prototype of theexoskeleton robot and built an experimental platform on which the fixed gait, activewalking, follow motion of a single joint and passive walking experiments were carried out. The effectiveness of the control strategy and viability of the entiresystem were verified by experiment, the desired effect was achieved.