Kinematic analysis for the wire-driven aid walking robot

For the needs of the rehabilitation training of lower limbs, a wire-driven aid-walking robot is proposed, and the kinematic research is done in this paper. This aid-walking robot is designed according to the skeletal structure of lower limbs of the normal person. After this, the kinematic model of this system is built based on D-H method. By this model, the relationship between the length of wires and angles of body joints are obtained. To realize the physiological changing of body joints, the robot is simulated in MATLAB/Simulink, and the changing laws of lengths and velocities of wires are calculated. The results indicate that this wire-driven aid-walking robot is feasible, and provide the basis for the later dynamic analysis and servo control of this robot.