Analysis of motion characteristics of lower limb exoskeleton robot

Abstract To address the issue of motion coordination in lower limb exoskeleton rehabilitation robots, and to meet basic characteristics ergonomics human kinematics, a humanoid design was adopted robot. The Denavit- Hartenberg (D-H) mathematical model robot established, each joint were analyzed obtain D-H parameters during process. from perspectives forward kinematics inverse kinematics. variation law process obtained, simulation analysis performed. results show that maximum center mass velocity is 0.45 m/s, which reached within 0.8 seconds. After that, decreases, with range approximately -0.2 m/s 0.55 m/s. It can be seen displacement changes legs are relatively stable, meets requirements.