Experimentation research on Lower-limb Power Assisted Robot

摘要

The Lower-limb Power Assisted Robot is a typical exoskeleton power assistance device, which is worn on the user's lower extremities. It can help the elderly and the infirm walk independently. According to the characteristics of human lower extremity joints, a robot with four-bar knee joint whose pelvis and knee joint are driven by the motor-driven screw-nut body is designed. Employing the Denanit-Hartenberg (D-H) method, the robot kinematics is analyzed, the equation of which was established. Based upon the law of human gait, the robot's trajectory planning is accomplished. According to the dSPACE system, the hardware-in-the-loop experiment system of the single leg is established; the step experiment, sine response and walking test with load are accomplished. Experimental results show that the robot can achieve the gait law and has strong load capacity.