Design and Analysis of a Lower Limb Exoskeleton Robot

摘要

In order to help patients with hemiplegia or mobility disability recover their normal walking ability. This paper designs a lower limb exoskeleton robot. This robot can not only provide to patients with walking force to drive the movement of both legs, but also can provide patients with rehabilitation training with high repeatability and good accuracy. The use of this robot will greatly save labor costs and reduce the pressure on medical resources. More importantly, machine training has the advantages of high repetition rate and accuracy. This makes the recovery period of patients shorter. This robot brings hope for patients to recover. In this article, introduce the structure of each part of the lower limb exoskeleton robot firstly. And then, make the gait analysis of human walking. Finally, make the static stress analysis of some structures with soildworks software and gait simulation experiment with adams software. In order to provide patients with a more comfortable rehabilitation experience, a control system based on electromyography signals needs to be designed in the future. An angle prediction model is obtained through neural network training, which can predict the patient's motion intention and thus control the robot's motion. This control method improves the human-computer interaction ability and enables patients to have more initiative.