Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Abstract

Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance for the biomimetic design of the exoskeleton, the human skeleton and the walking gait were comprehensively analyzed. A detailed 3D model of the wearer was generated using BRG. LifeMod software. The structure of the exoskeleton was designed according to the results of the analysis of human walking gait, making sure that each rotation axis of exoskeletons passes through the relevant joint of human body. Both exoskeleton and the human lower limb were imported into ADAMS to simulate and evaluate the performance of the exoskeleton. We also study the effect of the impact to exoskeleton at the moment the swinging feet touching the ground, which lay the foundation for the design of energy-saving and high-performance driving system in the future work.