Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots
A lower limb exoskeleton rehabilitation robot can effectively improve the rehabilitation efficiency of patients with impaired lower limb motor function and reduce the workload of rehabilitation physicians. Therefore, a lower limb exoskeleton rehabilitation robot is designed, the relationship between...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.016 |
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| _version_ | 1841547053642022912 |
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| author | Ma Xiaojun Liu Yuyang Jia Qiusheng Liu Desheng Liu Xunbao Yuan Mingrun |
| author_facet | Ma Xiaojun Liu Yuyang Jia Qiusheng Liu Desheng Liu Xunbao Yuan Mingrun |
| author_sort | Ma Xiaojun |
| collection | DOAJ |
| description | A lower limb exoskeleton rehabilitation robot can effectively improve the rehabilitation efficiency of patients with impaired lower limb motor function and reduce the workload of rehabilitation physicians. Therefore, a lower limb exoskeleton rehabilitation robot is designed, the relationship between the motion state of the exoskeleton robot and the motion mechanism of each joint is explored, the Lagrange equation to model the dynamics of the lower limb exoskeleton is used and the established virtual prototype model into Adams for dynamic simulation is imported. Further, the torque changes of each joint of the lower limb exoskeleton rehabilitation robot in different motion states are obtained. The data are analyzed to verify the correctness of the data, which provides a theoretical basis for the next step of the physical prototype fabrication and the selection of the actuator. |
| format | Article |
| id | doaj-art-b1bde096fad84677a04f42c1ee29be85 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b1bde096fad84677a04f42c1ee29be852025-01-10T14:56:47ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-12-014610611133108387Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation RobotsMa XiaojunLiu YuyangJia QiushengLiu DeshengLiu XunbaoYuan MingrunA lower limb exoskeleton rehabilitation robot can effectively improve the rehabilitation efficiency of patients with impaired lower limb motor function and reduce the workload of rehabilitation physicians. Therefore, a lower limb exoskeleton rehabilitation robot is designed, the relationship between the motion state of the exoskeleton robot and the motion mechanism of each joint is explored, the Lagrange equation to model the dynamics of the lower limb exoskeleton is used and the established virtual prototype model into Adams for dynamic simulation is imported. Further, the torque changes of each joint of the lower limb exoskeleton rehabilitation robot in different motion states are obtained. The data are analyzed to verify the correctness of the data, which provides a theoretical basis for the next step of the physical prototype fabrication and the selection of the actuator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.016Exoskeleton robotLagrangian equationDynamics simulationVirtual prototype |
| spellingShingle | Ma Xiaojun Liu Yuyang Jia Qiusheng Liu Desheng Liu Xunbao Yuan Mingrun Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots Jixie chuandong Exoskeleton robot Lagrangian equation Dynamics simulation Virtual prototype |
| title | Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots |
| title_full | Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots |
| title_fullStr | Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots |
| title_full_unstemmed | Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots |
| title_short | Simulation and Analysis of Dynamics of Lower Limb Exoskeleton Rehabilitation Robots |
| title_sort | simulation and analysis of dynamics of lower limb exoskeleton rehabilitation robots |
| topic | Exoskeleton robot Lagrangian equation Dynamics simulation Virtual prototype |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.016 |
| work_keys_str_mv | AT maxiaojun simulationandanalysisofdynamicsoflowerlimbexoskeletonrehabilitationrobots AT liuyuyang simulationandanalysisofdynamicsoflowerlimbexoskeletonrehabilitationrobots AT jiaqiusheng simulationandanalysisofdynamicsoflowerlimbexoskeletonrehabilitationrobots AT liudesheng simulationandanalysisofdynamicsoflowerlimbexoskeletonrehabilitationrobots AT liuxunbao simulationandanalysisofdynamicsoflowerlimbexoskeletonrehabilitationrobots AT yuanmingrun simulationandanalysisofdynamicsoflowerlimbexoskeletonrehabilitationrobots |