Lower Extremity Exoskeleton Control and Stability Analysis Based on Virtual Prototyping Technique

The unique human-machine integral system of lower extremity carrying exoskeleton system calls for the similar structure for the human and the exoskeleton, which can simply the stability analysis, but the exoskeleton structure becomes complex. At the same time, the effective lower extremity carrying exoskeleton control method, that is, virtual torque control method demands the exact mass attributes. For the complex mechanism structure, the mathematics model can not be built easily. In this paper, the virtual prototyping software ADAMS is introduced to model the exoskeleton and simulate the kinematics and dynamics, which solve the above problems perfectly.