This paper points out that exoskeleton rehabilitation robot is widely used to assist walking in patients with lower limb movement disorders,which can greatly enhance the rehabilitation effect of patients with impaired limb movement function.Through bionics,a wearable lower limb exoskeleton rehabilitation robot driven by ropes is designed.The kinematics of the wearable lower limb exoskeleton rehabilitation robot is modeled by using D-H method,and the kinematic relationship between the joints is obtained.The gait motion equation is obtained by using the quintic polynomial interpolation method,and the angular velocity data is imported into ADAMS software to carry out kinematics simulation analysis of the wearable lower limb exoskeleton rehabilitation robot.Finally,it is concluded that the angular displacement of the joint is smooth and stable,which indicates that the design has a good effect.
维普
万方数据