doi:10.16186/j.cnki.1673-9787.2022070036

Received:2022-07-17

Revised:2022-12-06

Online Date: 2023-04-19

Simulation and experimental analysis of lower exoskeleton rehabilitation robot（Online）

QU Haijun1, LI Tianliang1, LIU Jianhui1, QIN Xiaojun1, YANG Yongqiang1, LI Qiang2, WANG Jinwu3, NI Guohua1, ZHAO Dongliang4, WANG Jianping1

1.School of Mechanical and Power Engineering， Henan Polytechnic University， Jiaozuo  454000， Henan， China;2.Henan Youde Medical Equipment Co.， LTD.，Kaifeng  475500， Henan， China;3.Ninth People’s Hospital Affiliated to Shanghai Jiaotong University， Shanghai，  200011， China;4.Luoyang Orthopedic Hospital of Henan Province （Orthopedic Hospital of Henan Province）， Luoyang  471000， Henan， China

Abstract:In order to help the patients with lower extremity paralysis to get orderly rehabilitation training， a lower limb exoskeleton rehabilitation robot was designed. Cross swing lower limbs were derived by power source to simulate human normal gait walking for whole coordinated movement. The forward-inverse kinematics of the lower limbs exoskeleton robot were analyzed in this paper， and the kinematics simulation was carried out in ADAMS. The simulation results were consisted with the theoretical calculation， and the designed exoskeleton lower limb structure was synchronized with the wearer’s lower limb. The simulation analysis demonstrated that the error of theoretical calculation and simulation mainly came from the error of driving function， the maximum error was 2.15 cm. The prototype was made according to the simulation， the dynamic test and experimental analysis verified that the motion of hip and knee joints was consistent with the ideal motion. The average error of hip joint was 5.57°， and the average error of knee joint was 5.45°. The source of error was from， firstly， the insufficient torque of motor， secondly， the machining accuracy of parts and assembly accuracy. The reference and parameter were provided in this study for further improving of the dynamics performance and the influencing factors of the rehabilitation robot.

Key words:rehabilitation;exoskeleton robot;ADAMS simulation;kinematics;dynamictest

CLC：R496;TP242