Modeling, simulation & control of human lower extremity exoskeleton

摘要

In recent years, with the increase of aging population and physical disabilities, more attentions have been paid on studies of the lower extremity exoskeleton. It is a man-machine integration device and fusion of multi-subject technology. This article will discuss on mathematical modeling and PID control on exoskeleton. Firstly, the law of human gait and leg structure is studied in details. On this basis and combining the robotics, the freedom and the structure parameters of exoskeleton can be designed. Secondly, by using the D-H model, the mathematical model will be established to analyze the relationship between the pose and motion. Thirdly, by using Lagrange equation, a dynamic model which is to study the relationship between the torque and motion is established. Finally, a modern simulation tool called SimMechanics is used to set up the kinematics model. PID control is used in the article. The sine wave response has been analyzed to earn feasibility results.