Analysis and Experimental Verification of Human-Robot Coupling Collaboration Characteristics for Lower Extremity Exoskeleton Rehabilitation Robot Based on ADAMS

Abstract

Motor rehabilitation contributes to neural remodeling in individuals with motor disabilities, which is crucial for their recovery of motor ability. In addressing the No. of human-machine coupling and synergistic motion characteristics in motor rehabilitation, this study analyzes the collaborative motion characteristics of each joint in the lower limbs. A virtual human-machine coupling system is proposed, and the driving functions of the human-machine coupling system are designed. By utilizing ADAMS motion simulation software, the motion characteristics of the human-machine system are analyzed, and the variation patterns of motion parameters at key positions are obtained. Based on this, the system’s synergy is analyzed and experimentally validated from the perspectives of gait, motion speed, and joint motion angles. The experimental results demonstrate that the hip and knee joint angles of the exoskeleton robot exhibit a motion pattern highly consistent with that of the human body, with an angle error of less than 3° indicating excellent synergy.