Design And Research On Lower Extremity Exoskeleton Robot

In order to develop a wearable lower extremity exoskeleton robot that can follow the wearer walks and provide assisted power for legs, the mechanical structure, control system, the kinematics and dynamics, the human legs’ gestures recognition based on plantar pressure and C-S VC were researched; including:First, the design of mechanical structure for the wearable lower extremity exoskeleton robot was conducted, including:the design of the overall structure, drive motor selection, design of active joints (hip, knee), design of ankle parts, design of the size of legs and waist support structure; and the mathematical model of structure was built to calculate the active joints’movement angle to validate whether the drive motors were meet the requirements or not.Second, according to the walking character of normal human beings, D-H method was applied to the kinematics analysis of the exoskeleton mathematical model, and Lagrangian dynamics was employed to analyze dynamics. The kinematical equation was obtained and MATLAB was used to verify its validity; the Kinetic equations were got by Lagrangian, and torque of each joint was obtained by virtue of the wearing combined gait simulation for the exoskeleton robot on ADAMS.Third, the design of control system was carried out, including:the design of overall scheme and the walking system based on AT90CAN128 and remote control devices.Fourth, the researches on legs’ gestures (standing, walking, jumping, going up-stairs) recognition was conducted, including:the plantar pressure acquisition system based on the host-slave machine; the human legs’ gestures recognition simulation based on GA-based C-SVC by MATLAB and LIBSVM toolbox.Fifth, servo-walking experiments were carried out to verify that the wearable lower extremity exoskeleton robot can follow the wearer walks and provide assisted power of legs.