Design and stability analysis of the multi-pose and multi-function lower limb assist device based on ZMP
ObjectiveTo address the difficulty of traveling for patients with lower limb motor dysfunction and promote the recovery of lower limb function, a multi-posture, multi-functional lower limb assistive device was designed, offering functions for mobility, assisted standing and lower limb rehabilitation...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2025-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.02.019 |
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| Summary: | ObjectiveTo address the difficulty of traveling for patients with lower limb motor dysfunction and promote the recovery of lower limb function, a multi-posture, multi-functional lower limb assistive device was designed, offering functions for mobility, assisted standing and lower limb rehabilitation training.MethodsThe static simulation was conducted using Ansys software to assess the safety of the device during use; the kinematics and dynamics models of lower limb exoskeleton were established to obtain the spatial posture and theoretical torque of each joint,providing theoretical support for the subsequent prototype fabrication; the "Zero-Moment Point" (ZMP) position model of the human body-assist device system was established, the theoretical ZMP was calculated, and the virtual prototype was imported into Adams software for simulation to obtain the variation in the supporting foot position, the stability of the device was validated by comparing the positions of ZMP and the supporting foot;the physical prototype was constructed.ResultsThe rationality of the prototype design was validated by comparing simulation and experimental data, providing a basis for subsequent research. |
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| ISSN: | 1004-2539 |