Dynamic Analysis of Lower Extremity Exoskeleton of Rehabilitation Robot

摘要

In order to control the exoskeleton of lower limbs accurately, it is necessary to establish an accurate dynamic model. In this paper, the lower extremity exoskeleton is simplified to five-bar mechanism, and the walking mode of human body is divided into single-leg support mode and double-leg support mode. Then, the two models of walking patterns were dynamically modeled and analyzed by the Lagrange method to obtain joint torque. Finally, the multi-body dynamics simulation software ADAMS is used to carry out the dynamic simulation, which verifies the correctness of the theoretical analysis, and provides a theoretical basis for motor selection and control system design of rehabilitation robot.