Design and gait experiment of a lower extremity warfare rehabilitation wheel-foot exoskeleton
A lower extremity warfare rehabilitation wheel-foot exoskeleton was designed to meet the requirements of post-operative rehabilitation training,wartime transfer,and daily walking for soldiers with brain and spinal injuries.It can realize different working modes through different forms of assembly using the shared structures and drive systems,thus the integration this exoskeleton was improved and the overall quality was reduced.The two-link model of the single leg swing phase of the wheel-foot exoskeleton was established and its dynamic model was derived.The theoretical calculation and virtual simulation torque of hip and knee joints were calculated through the dynamic model and virtual prototype model of the exoskeleton.An active rehabilitation training control strategy based on position impedance control for the wheel-foot exoskeleton was established,and a physical prototype of the wheel-foot exoskeleton was developed to obtain the joint trajectory and human-exoskeleton interaction force.The curve trend of the joint torque of the swing leg based on the theoretical calculation,virtual simulation,and experimental testing is similar,indicating the correctness of the theoretical calculation and virtual simulation models.The data obtained from the gait experiment showed that the trajectory error and interaction force were both small,which meets the design requirements,that is,the wheel-foot exoskeleton is rational and feasibly.
wheel-foot exoskeletonstructural designdynamic calculationsimulation analysisimpedance control
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