This paper proposes a novel bionic model of the human leg according to the theory of physiology. Based on this model, we present a biologically inspired 3-degree of freedom (DOF) lower limb exoskeleton for human gait rehabilitation, showing that the lower limb exoskeleton is fully compatible with the human knee joint. The exoskeleton has a hybrid serial-parallel kinematic structure consisting of a 1-DOF hip joint module and a 2-DOF knee joint module in the sagittal plane. A planar 2-DOF parallel mechanism is introduced in the design to fully accommodate the motion of the human knee joint, which features not only rotation but also relative sliding. Therefore, the design is consistent with the requirements of bionics. The forward and inverse kinematic analysis is studied and the workspace of the exoskeleton is analyzed. The structural parameters are optimized to obtain a larger workspace. The results using MATLAB-ADAMS co-simulation are shown in this paper to demonstrate the feasibility of our design. A prototype of the exoskeleton is also developed and an experiment performed to verify the kinematic analysis. Compared with existing lower limb exoskeletons, the designed mechanism has a large workspace, while allowing knee joint rotation and small amount of sliding.
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Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation
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October 2016
Research Article|
October 25 2016
Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation
Mingxing Lyu;
Mingxing Lyu
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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Weihai Chen;
Weihai Chen
a)
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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Xilun Ding;
Xilun Ding
2School of Mechanical Engineering and Automation,
Beihang University
, Beijing 100191, China
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Jianhua Wang;
Jianhua Wang
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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Shaoping Bai;
Shaoping Bai
3Department of Mechanical and Manufacturing Engineering,
Aalborg University
, Aalborg 9000, Denmark
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Huichao Ren
Huichao Ren
1School of Automation Science and Electrical Engineering,
Beihang University
, Beijing 100191, China
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a)
Author to whom correspondence should be addressed. E-mail: whchen@buaa.edu.cn
Rev. Sci. Instrum. 87, 104301 (2016)
Article history
Received:
March 14 2016
Accepted:
September 19 2016
Citation
Mingxing Lyu, Weihai Chen, Xilun Ding, Jianhua Wang, Shaoping Bai, Huichao Ren; Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation. Rev. Sci. Instrum. 1 October 2016; 87 (10): 104301. https://doi.org/10.1063/1.4964136
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