Modeling and Co-simulation of Lower Limb Exoskeleton

Abstract

Because of the complexity of the lower limb exoskeleton, it is of high necessity to conduct motion simulation before manufacturing physical prototype. This paper introduces the method to establish the dynamics model of the lower limb exoskeleton briefly, and focuses on the construction and dynamic simulation method of the virtual prototype in the ADAMS to obtain the joint torque. With the virtual prototype model of the lower limb exoskeleton robot being established in ADAMS after co-simulation with MATLAB, it is suggested that fuzzy PID control method can overcome the alternate contact force between feet and road effectively. The result is of great significance for the development of physical prototype and the design of controller.