The research on modeling and control of lower limb

摘要

The movement of lower limb has periodic variational regularity.The study of gait characteristics offers much insight on bipedal robots and active transfemoral prosthesis.VICON MX system is used to collect the joint motion of lower limb.The body is simplified as rigid model.The model of subjects is built by CAD Softwear Solidworks.Kinematics of lower limb is analyzed by COSMOSMotion.Platform of lower limb is built,which has hip joints and knee joints.Each joints is driven by DC servo motor.The angle signal is used to control each joints.The simulated gait of lower limb is finally completed.