Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation

Wei Xiao; Bi Wenlong; Li Yanan; Xu Beihao; Zhao Yanjun

doi:10.16578/j.issn.1004.2539.2024.01.009

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Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation

Design· Calculation | 更新时间：2024-12-13

- Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 61-66(2024)
- 作者机构：
  
  山东理工大学机械工程学院，山东淄博 255049
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.009
  CLC：
- Published：15 January 2024，
  
  Received：10 October 2022，
- 稿件说明：
移动端阅览
魏笑,毕文龙,李亚男等.一种多自由度可调节下肢康复外骨骼的设计与仿真[J].机械传动,2024,48(01):61-66.

Wei Xiao,Bi Wenlong,Li Yanan,et al.Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation[J].Journal of Mechanical Transmission,2024,48(01):61-66.
魏笑,毕文龙,李亚男等.一种多自由度可调节下肢康复外骨骼的设计与仿真[J].机械传动,2024,48(01):61-66. DOI： 10.16578/j.issn.1004.2539.2024.01.009.

Wei Xiao,Bi Wenlong,Li Yanan,et al.Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation[J].Journal of Mechanical Transmission,2024,48(01):61-66. DOI： 10.16578/j.issn.1004.2539.2024.01.009.

摘要

针对下肢受损、脑卒中等患者的康复训练，设计了一款多自由度可调节下肢康复外骨骼，利用丝杆机构代替传统腿部结构，并在腰部设有转动模块，能更好地实现人机协同。采用拉格朗日方法建立下肢外骨骼动力学模型，并计算了理论转矩；构建了下肢康复外骨骼模型，利用Ansys和Adams软件分别进行了有限元仿真和外骨骼运动学/动力学仿真。结果验证了结构设计的合理性，为后续下肢外骨骼制造与电动机选型提供了依据。

Abstract

Aiming at the rehabilitation training of patients with lower extremity damage and stroke

a multi-degree-of-freedom adjustable lower extremity rehabilitation exoskeleton is designed. The screw mechanism is used to replace the traditional leg structure

and there is a rotation module at the waist

which can better realize the human-machine collaboration. The lower extremity exoskeleton dynamics model is established by the Lagrangian method

and the theoretical torque is calculated; the lower extremity rehabilitation exoskeleton model is constructed

and the finite element simulation and exoskeleton kinematics/dynamics simulation are carried out using Ansys and Adams software

respectively. The results verify the rationality of the structural design

and provide a basis for the subsequent lower limb exoskeleton manufacturing and motor selection.

关键词

外骨骼结构设计动力学建模仿真分析

Keywords

ExoskeletonStructural designDynamics modelingSimulation analysis

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