Kinematics and dynamics analysis of exoskeleton training robot based on the human biomechanical model

Abstract

Exoskeleton robot is a recently emerged human and electromechanics integrated technology which perfectly combines human wisdom with mechanical strength and has good application values and market prospects. In order to better achieve human-computer interaction, optimize the performance of the exoskeleton training robot, reduce muscle burden and enhance human strength and endurance, this study investigated the exoskeleton training robot based on the human biomechanical model after fully understanding the theories of ergonomics, kinematics and dynamics. The robot design fully considered the human biomechanical parameters and realized the adjustment on the mechanical and control system by setting structural limits based on the degree of freedom of the joints of the human body. Besides, the feasibility and follow - up function of the exoskeleton robot were verified by testing. The kinematics and dynamics analysis of the exoskeleton training robot based on the human biomechanical model can help better control and optimize the design structure of the robot, enhance the power-assisted effect, and help the users to enhance their strength and physical fitness and carry out more scientific and safe training.