Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton

Abstract

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.

Keywords

• Lower limb exoskeleton;Structural design;Kinematic solution;Exoskeleton human coupling;Goodness of fit