KINEMATIC CHARACTERISTICS ANALYSIS OF WEARABLE LOWER LIMB REHABILITATION EXOSKELETON ROBOT BASED ON ADAMS.

In order to solve the problems of low joint freedom for lower limb rehabilitation exoskeleton robot and movement deviation caused by human-machine coordinated movement and based on the application of ergonomics and bionics in lower extremity rehabilitation, anthropomorphic design criterion is adopted to represent a wearable lower extremity rehabilitation exoskeleton robot with eight degrees of freedom. The mathematical model of the exoskeleton robot is established, and the forward and inverse solutions of the exoskeleton robot kinematics are obtained by the Denavit–Hartenberg (D-H) and the geometric methods. The kinematic characteristics of each joint and link of the exoskeleton robot are revealed, and the correctness of the kinematic model is verified using MATLAB. ADAMS software was used for simulation analysis, and the motion data of the lower limbs of the human body were collected by the optical motion capture system for comparison. The results show that the change laws of the hip and knee joint angles of the exoskeleton robot are basically consistent with the results of the human motion experiment, and the deviation angle is less than 5°. It is proved that the structure design of the exoskeleton robot is reasonable, and the kinematic model is established correctly, which provides an important reference to further optimize the structure of the exoskeleton robot and reducing the deviation of human-machine coordinated motion. [ABSTRACT FROM AUTHOR]