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
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 mecha-nism 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 mod-el 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.
Keywords：ExoskeletonStructural designDynamics modelingSimulation analysis
Publication Date：2024-01-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：6( 61-66 )