Kinematics and dynamics analysis of lower limb rehabilitation exoskeleton robots
NING Feilong
LI Chengdong
LI Heng
JIANG Jiahao
Abstract：[Objective]Aiming at the problem of insufficient adaptability of existing lower limb rehabilitation exoskeleton robots,a multi-part dimension adjustable exoskeleton robot was designed.Its kinematic and dynamic characteristics were explored to provide a basis for structural optimization and motor selection.[Methods]Based on the structural characteristics of the human lower limbs,a kinematic model was established using the D-H parameter method,and a dynamic model was constructed via the Lagrange's equation.Theoretical calculations and simulation verification were conducted by combining Matlab and Adams software,and no-load and loaded simulation analyses were carried out.[Results]The movements of the left and right sides of the robot show periodic changes with a half-gait cycle difference,which is consistent with the law of human walking.During the swing phase,the driving torque of the hip joint does not exceed 60 N·m,and that of the knee joint does not exceed 40 N·m.The movement is stable,meeting the design requirements,which provides reference for the development of the control system and the development of physical prototypes.
Keywords：Exoskeleton robotD-H modelingLagrange's equationKinematic analysisDynamic analysis
Publication Date：2025-09-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 93-101 )