Gait Simulation Research of 2-DOF Lower Limb Rehabilitation Robot Based on ADAMS and MATLAB

Abstract

Abstract The two-degree-of-freedom (2-DOF) lower limb rehabilitation robot is developed to promote the functional recovery of hemiplegic patients. In order to improve the gait movement and shorten the development cycle, co-simulation technology is used to simulate and analyze the lower limb rehabilitation robot. ADAMS simulation software is used to model and analyze the dynamics of the robot and the MATLAB/Simulink module is used to build a PID control system to track the gait of the robot. In ADAMS dynamic simulation, the model walks according to the target trajectory, which verifies the correctness of the virtual prototype. In ADAMS and MATLAB co-simulation, the model follows the target trajectory to complete the gait. The trajectory tracking error was less than 1°.