Research On Human-machine Coupling Model And Its Application In The Design Of Lower Limb Exoskeleton Robot

The lower extremity exoskeleton robot is used to assist the human gait and reduce the energy consumption of the human body.For the research of lower limb exoskeleton robots,it is necessary to build models to explore the principles and optimize parameters.This paper proposes a unitized modeling method of human-exoskeleton to calculate kinematics and dynamics when human wears the exoskeleton robot and applys the model to the design and control optimization of exoskeleton robots.First of all,the human-machine coupling model is decomposed into units and connections by using the unitized modeling idea.The body parts and exoskeleton robots are unitized and abstracted.The Newton-Euler equation is rewritten into a unitized recursive formula to complete the human kinematics and dynamics calculations.The solvability of the model under the input of gait data is realized through touch point algorithm,virtual foot,floating stage kinematics algorithm and dynamics initialization algorithm.The preliminary experimental verification of the kinematics and dynamics calculation results was carried out through the motion capture system and the force plate.Secondly,the lower limb exoskeleton robot is designed based on the model.The structure and parameter design of dual-passive exoskeleton and four-passive cooperative exoskeleton are realized through mathematical expression of external bone structure area and optimization algorithm.The auxiliary force is described by fourier series,and it is realized for the control curve of the electromechanical exoskeleton of the ankle joint and the hip joint by combining with the optimization algorithm.Finally,the model is programmed in java to realize the cross-platform call of the model.The deployment of the model on the Android side is realized through the standard library matching gait prediction algorithm,which combined with the electromechanical exoskeleton sensor and Bluetooth communication.A prototype of the passive exoskeleton was built and the metabolism reduction experiment of the passive exoskeleton was carried out.The metabolism reduction experiment of the exoskeleton was also carried out by setting the output force in the hip joint exoskeleton.