The Structure Design and Dynamics Simulation of a New Exoskeleton Robot

Abstract

To meet daily and weight-bearing walking demand of above-knee amputees, a novel exoskeleton robot integrating intelligent lower limb prosthesis was designed in this paper. The robot is mainly composed of the back frame and two mechanical legs. The left leg is a mechanical exoskeleton leg worn on the healthy leg of the above-knee amputee and the right one is composed of intelligent lower limb prosthesis and exoskeleton mechanical leg. The structure and function of the robot are introduced in detail in this paper, including the distribution of the degrees of freedom, the driving mode, and the structure of each joint. By analyzing the exoskeleton robot working mechanism, the dynamic simulation of the new exoskeleton robot was carried out by virtual prototyping technology, and the driving velocity and torque of each joint were obtained. This study lays a foundation for prototype development and control of the exoskeleton robot.