Design and simulation of a lower limb exoskeleton rehabilitation robot

Abstract

In order to help patients with lower extremity rehabilitation training, this project aims to design a lower extremity-assisted and adjustable exoskeleton robot. First, the degree of freedom of each joint of the exoskeleton was determined according to the characteristics of human anatomy and bone connection. and the structural design of the normal size of the mechanism was determined by the average size of the bones. Secondly, the angle equation determined by the leg joint coordinates is established, and the angle parameters of different time periods in a gait cycle are obtained by observing the changes of the joint coordinates. The coordinate system of each joint is established by the DH parameter method. It provides a theoretical basis for animation simulation, structural design, kinematics analysis and control. Finally, the kinematics analysis and simulation are carried out in MATLAB; the overall structure and simulation animation of the robot are established by SOLIDWORKS. The PID method is used to construct the power-assisted control frame diagram of the robot. The results showed that the exoskeleton robot responds well to various kinematics and other properties of the lower limbs.