Hybrid-Driven Lower Limb Exoskeleton Robot

Abstract

A novel model of lower limb exoskeleton system is proposed for the elderly, spinal cord injury patients, and other people with motor impairment in the lower limbs. Based on the traditional mechanical support, pneumatic artificial muscles are introduced to form a hybrid drive system with electric motors to provide gravity support for the wearer of the exoskeleton, which can both reduce weight and control torque. The simulation results show that: the motion curve of each joint is smooth without obvious impact, the error of each joint’s angle simulation value is less $\mathrm{than} \pm 1.5^{\circ}$, which is within a reasonable error, and the overall system that can balance.