Optimization of Lower Limb Exoskeleton Knee Joint and Man-machine Control Simulation
This study aims to help patients with different disabilities and movement disorders achieve comfortable rehabilitation after operation and avoid the trouble of wearing lower limb exoskeleton for many times.An algorithm that can quickly obtain human gait optimization is proposed.First,we take the height data of a person as an example and combine CGA data to simulate the movement of human knee joint by a four-bar mechanism.Next,MATLAB optimization algorithm is used to obtain the rod length of the four-bar mechanism and the instantaneous center trajectory of the human knee joint,which is applied to the adjustable knee joint of the lower limb exoskeleton.Then a man-machine model is made.However,the mechanical error of joint angle assembly with man-machine coupling is large.By using PID of ADAMS and MATLAB-Simlink co-simulation to control the man-machine model,the angle error of knee joint change in man-machine coupling model is minimized.The results show that the joint error of man-machine model is reduced from 2° to 0.2°after optimization.It can help patients with movement disorders achieve the effect of human-computer interaction comfort in the rehabilitation process.
bionic knee joint mechanismoptimization algorithminstantaneous center locusco-simulationcomfort
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