Experimentation research on Lower-limb Power Assisted Robot

The Lower-limb Power Assisted Robot is a typical exoskeleton power assistance device, which is worn on the user´s lower extremities. It can help the elderly and the infirm walk independently. According to the characteristics of human lower extremity joints, a robot with four-bar knee joint whose pelvis and knee joint are driven by the motor-driven screw-nut body is designed. Employing the Denanit-Hartenberg (D-H) method, the robot kinematics is analyzed, the equation of which was established. Based upon the law of human gait, the robot´s trajectory planning is accomplished. According to the dSPACE system, the hardware-in-the-loop experiment system of the single leg is established; the step experiment, sine response and walking test with load are accomplished. Experimental results show that the robot can achieve the gait law and has strong load capacity.