Kinematics Analysis and Simulation of a Robot with Lower Extremity Exoskeleton

The lower extremity exoskeleton is smart external power unit combined with the mechanical energy, which can enhance human body function. The progress, prospective and principle are introduced in brief. Based on the movement parameters of the several of joints of human extremity, the paper carried out the kinematics analysis and modeling the mechanical system of the lower extremity exoskeleton. Simulations of the mechanical system with MATLAB result in the motion trail in space structure. Comparing the motion with several points verifies the feasibility of the kinematical model established and the necessity of spatial motion analysis. Finally calculated the workspace and analyzed the influence of various parameters of the mechanism on the workspace. The study paves the way for the optimization design of the structure and the design and calculation of hydraulic drive system.