Design and analysis of a lower limb exoskeleton rehabilitation robot based on a series elastic actuator

Abstract

Abstract The aging population is a necessary trend in today's society, and there are increasing applications in everyday services through human-computer interaction, paramedicine and robotics. Lower limb exoskeleton rehabilitation robots have broad application prospects in the fields of enhancing human functions, rehabilitation training, and helping the elderly and disabled. In this paper, we combine the structural characteristics, motion mechanism, and gait characteristics of human lower limbs, bionic design of the exoskeleton mechanical structure, and propose a tandem elastic actuator with passive flexibility, low impedance, and force-controllable characteristics for application with robot joints. The kinematic analysis was carried out by the D-H parameter method, and the kinematic simulation was carried out by Matlab Robotic Toolbox software with the derived D-H parameters, and the fabrication and testing of the solid prototype were completed. The structural design and gait parameters were verified to be reasonable.