Modeling and Simulation of Alternating Multiphase Walking with Two Legs on Human-machine Carrying Exoskeleton

Abstract

In order to study the variation law of kinematic parameters in the process of multi intersection and replacement in the process of human-machine carrying exoskeleton walking，a kinematic model of exoskeleton is established based on D-H coordinate system，and the kinematic expression in the process of walking is calculated by Newton Euler recursive formula. In order to realize the carrying movement between exoskeleton and human body，the parameters of joints in the process of human walking are measured and analyzed by displacement attitude sensor. Based on the exoskeleton carried by the third generation human-machine of Southwest Jiaotong University as research object，a virtual prototype is established in Adams environment，and a kinematic simulation of exoskeleton driven by human motion parameters is carried out. Taking the process of multi leg replacement as the starting point，the simulation results are analyzed. The results can provide a reliable basis for the measurement and control system driven by human-machine exoskeleton.

Keywords

• Lower extremity exoskeleton;Alternating multiphase;Kinematic simulation;Human-machine carrying