Aiming at the problems of low matching between the existing lower limb exoskeleton structure and the body,a new variable instantaneous center artificial knee joint driven by pneumatic artificial muscles was proposed by introducing additional degrees of freedom on the existing anti-quad-rilateral joints.Combined with the kinematics analyses of the variable instantaneous center exoskele-ton,the instantaneous center trajectory equations were solved,and the particle swarm algorithm was used to optimize the design of the knee joint structures.At the same time,the PID controller was used to simulate and analyze the motions,and experimental research was carried out.The results show that the instantaneous center trajectory of the proposed new variable instantaneous center artificial knee joints has a better match with the ideal instantaneoust center trajectory of the human joints,which provides reference and empirical support for the optimal design of the human-machine compatible structures.
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