Dynamic Analysis and Simulation of the Rehabilitation Robot For Lower Limb Exoskeleton Movement
A robust adaptive PD control strategy for a lower limb exoskeleton robot is proposed by analyzing gait data of a normal human body.Firstly,the NOKOV three-dimensional infrared capture system is used to collect gait information of the normal human body.Then,the Lagrange method is used to establish dynamic models for single foot support and double foot support,and an adaptive controller is selected based on the constructed model,Finally,the stability of the designed control method and the correctness of the data were verified through MATLAB simulation.The designed robot's hip and knee joints can quickly follow the de-sired angle,and the similarity function verifies that the robot's motion trajectory is highly similar to the hu-man motion trajectory,indicating that the robot has good comfort and verifying the correctness of the data.So it can be demonstrated that the proposed control method is effective and can provide reference for the se-lection of subsequent driving sources,which will help injured athletes to perform rehabilitation exercises.