Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton
With the increasing proportion of people with lower limb dysfunction in the population, lower limb exoskeleton, mainly in the form of physical assisted therapy, has become a research hotspot in the field of rehabilitation. In this study, a wearable lower limb exoskeleton prototype model is proposed...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2023-12-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.010 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841546970575929344 |
|---|---|
| author | Wang Xiaowei Chen Xu Gao Shenglu |
| author_facet | Wang Xiaowei Chen Xu Gao Shenglu |
| author_sort | Wang Xiaowei |
| collection | DOAJ |
| description | With the increasing proportion of people with lower limb dysfunction in the population, lower limb exoskeleton, mainly in the form of physical assisted therapy, has become a research hotspot in the field of rehabilitation. In this study, a wearable lower limb exoskeleton prototype model is proposed and its motion performance is studied. Firstly, the corresponding relation between human lower limbs and exoskeleton is established. Secondly, the standard D-H method is used to build the exoskeleton kinematics mathematical model, the forward and inverse kinematics is solved through the homogeneous transformation matrix, and the correctness of the model and the solving equation is verified. Finally, the man-machine coupling model is simulated based on the gait characteristics of human lower limbs. The goodness of curve fitting shows that the exoskeleton runs smoothly, and has good compatibility and tracking performance. The joint curve data provides the data basis for the formulation of the control strategy of the lower limb exoskeleton. |
| format | Article |
| id | doaj-art-076e74bf2d714a3f804ce71dce91d441 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-076e74bf2d714a3f804ce71dce91d4412025-01-10T14:59:31ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-12-0147697446660173Design and Kinematics Analysis of the Wearable Lower Limb ExoskeletonWang XiaoweiChen XuGao ShengluWith the increasing proportion of people with lower limb dysfunction in the population, lower limb exoskeleton, mainly in the form of physical assisted therapy, has become a research hotspot in the field of rehabilitation. In this study, a wearable lower limb exoskeleton prototype model is proposed and its motion performance is studied. Firstly, the corresponding relation between human lower limbs and exoskeleton is established. Secondly, the standard D-H method is used to build the exoskeleton kinematics mathematical model, the forward and inverse kinematics is solved through the homogeneous transformation matrix, and the correctness of the model and the solving equation is verified. Finally, the man-machine coupling model is simulated based on the gait characteristics of human lower limbs. The goodness of curve fitting shows that the exoskeleton runs smoothly, and has good compatibility and tracking performance. The joint curve data provides the data basis for the formulation of the control strategy of the lower limb exoskeleton.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.010Lower limb exoskeletonStructural designKinematic solutionExoskeleton human couplingGoodness of fit |
| spellingShingle | Wang Xiaowei Chen Xu Gao Shenglu Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton Jixie chuandong Lower limb exoskeleton Structural design Kinematic solution Exoskeleton human coupling Goodness of fit |
| title | Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton |
| title_full | Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton |
| title_fullStr | Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton |
| title_full_unstemmed | Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton |
| title_short | Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton |
| title_sort | design and kinematics analysis of the wearable lower limb exoskeleton |
| topic | Lower limb exoskeleton Structural design Kinematic solution Exoskeleton human coupling Goodness of fit |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.010 |
| work_keys_str_mv | AT wangxiaowei designandkinematicsanalysisofthewearablelowerlimbexoskeleton AT chenxu designandkinematicsanalysisofthewearablelowerlimbexoskeleton AT gaoshenglu designandkinematicsanalysisofthewearablelowerlimbexoskeleton |