Kinematic and Dynamic Analysis of Lower Limb Rehabilitation Exoskeleton Legs
It is imperative to seek an efficient rehabilitation appliance to help patients with lower limb disabled walk again because the number of patients increases year by year and the traditional training can not be implemented without physical therapists’ auxiliary and high costs.We design a lower limb rehabilitation exoskeleton legs which driving by two linear actuators and optimize the legs’ structure to resolve the problem that the linear will swing in training.The position of ankle joint is obtained by establishing and analyzing kinematic equations based on generalized coordinate method,and an efficient computing method is presented for the electric machines’ control moment by establishing and analyzing dynamics equations based on Lagrange equations to control the exoskeleton legs to walk a healthy person’s gait.Finally,We obtain the changing rule of the hip joint and knee joint by a motion capture experiment and simulate the exoskeleton legs to walk the healthy person’s gait with the data from the experiment.The result of analysis and simulation not only obtains a healthy people’s gait simulation,but also provides data support for motor control programs.
Rehabilitation of lower limb Exoskeleton legs Dynamic analysis control moment
Teng JIN Zhongxia XIANG Yixin SHAO
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300072,China
国际会议
天津
英文
1-6
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）