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Design and simulation of a lower limb exoskeleton rehabilitation robot

Published: 14 October 2022 Publication History

Abstract

In order to help patients with lower extremity rehabilitation training, this project aims to design a lower extremity-assisted and adjustable exoskeleton robot. First, the degree of freedom of each joint of the exoskeleton was determined according to the characteristics of human anatomy and bone connection. and the structural design of the normal size of the mechanism was determined by the average size of the bones. Secondly, the angle equation determined by the leg joint coordinates is established, and the angle parameters of different time periods in a gait cycle are obtained by observing the changes of the joint coordinates. The coordinate system of each joint is established by the DH parameter method. It provides a theoretical basis for animation simulation, structural design, kinematics analysis and control. Finally, the kinematics analysis and simulation are carried out in MATLAB; the overall structure and simulation animation of the robot are established by SOLIDWORKS. The PID method is used to construct the power-assisted control frame diagram of the robot. The results showed that the exoskeleton robot responds well to various kinematics and other properties of the lower limbs.

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cover image ACM Other conferences
ICCIR '22: Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics
June 2022
905 pages
ISBN:9781450397179
DOI:10.1145/3548608
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Published: 14 October 2022

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