Kinematic and Dynamic Analysis of Lower Limb Rehabilitation Exoskeleton Legs

It is imperative to develop an rehabilitative appliance to help patients with lower limb disabled walk again because patients’ number increases and the traditional training needs physical therapists’ auxiliary and costs high. Therefore, we design a lower limb rehabilitative exoskeleton legs driving by two linear actuators and optimize the legs’ structure to resolve the problem that the linear will swing in training. The position of ankle joint is obtained by analyzing kinematic equations and an efficient computing method is presented for the electric machines’ control moment by analyzing dynamics equations based on Lagrange equations to control the legs to walk normal gaits. Finally, we obtain the changing rule of the hip joint and knee joint by a motion capture experiment and simulate the exoskeleton legs to walk the normal gait with the data from the experiment. The result of analysis and simulation provides data support for motor control programs.