Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation
Aiming at the rehabilitation training of patients with lower extremity damage and stroke, a multi-degree-of-freedom adjustable lower extremity rehabilitation exoskeleton is designed. The screw mechanism is used to replace the traditional leg structure, and there is a rotation module at the waist, wh...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.009 |
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| Summary: | Aiming at the rehabilitation training of patients with lower extremity damage and stroke, a multi-degree-of-freedom adjustable lower extremity rehabilitation exoskeleton is designed. The screw mechanism is used to replace the traditional leg structure, and there is a rotation module at the waist, which can better realize the human-machine collaboration. The lower extremity exoskeleton dynamics model is established by the Lagrangian method, and the theoretical torque is calculated; the lower extremity rehabilitation exoskeleton model is constructed, and the finite element simulation and exoskeleton kinematics/dynamics simulation are carried out using Ansys and Adams software, respectively. The results verify the rationality of the structural design, and provide a basis for the subsequent lower limb exoskeleton manufacturing and motor selection. |
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| ISSN: | 1004-2539 |