Structural design and kinematics modeling analysis of power-assisted exoskeleton robot
In this article,efforts are made to design a power-assisted exoskeleton robot,which is lightweight and flexible,for the purpose of daily assistance.The lower-limb joints are equipped with the active drive and the passive energy-storage elements;the knee joint is equipped with the drive module;the hip and ankle joints are equipped with passive energy storage elements.The human-machine binding device is designed according to the bionics principle,and energy saving of the passive joints is verified.The simulation results have verified that the power-assisted exoskeleton robot is feasible in the structure design and effective in the function of power assistance.The D-H method is used to set up the kinematics model of the exoskeleton robot's lower-limb;the gait data on the joint angle's normal walking in Opensim is taken as the input to carry out the forward and inverse kinematics analy-sis.The 3D model of the exoskeleton robot is set up,the ground constraints of the robot's walking are added,and the physical model is subject to kinematics simulation.These results have proved that the analysis on the exoskeleton robot's motion is reliable.
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