Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot
This work provides a foundation for developing a simulation platform for exoskeleton robots, which could aid in rehabilitation applications, but it is incremental as it applies existing methods to a specific domain.
The authors tackled the problem of modeling and simulating a rehabilitation lower extremity exoskeleton robot by building kinematics equations and a 3D simulation model, achieving a complete gait simulation and verifying the inverse kinematics algorithm's reliability.
The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D reappearance of a complete gait was achieved. Finally, the reliability of numerical algorithm of inverse kinematics was verified by the simulation result. All jobs above lay a foundation for developing a three-dimensional simulation platform of exoskeleton robot.