Manufacturing Technology 2024, 24(3):467-477 | DOI: 10.21062/mft.2024.055

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

Peiqin Wang ORCID...1, Hui Song ORCID...1, Runqiang Liu ORCID...1, Yun-chun Jiang ORCID...1, Yi Zheng ORCID...1,2*
1 Institute of Intelligent Manufacturing, Qingdao Huanghai University, Qingdao,Shandong, 266427, China
2 School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao, 266520, China

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.

Keywords: Rehabilitation Robot, Human-Machine Coupling, ADAMS
Grants and funding:

This work was supported by
Shandong Key Research and Development Project (No.2019GHY112068, 2019GGX104102)
Qingdao postdoctoral applied research project（A2020-070)
The Natural Science Foundation of Shandong Province (No.ZR2020QE151)
Qingdao Huanghai University doctoral research Fund Project (2020boshi02)

Received: February 1, 2024; Revised: June 6, 2024; Accepted: June 14, 2024; Prepublished online: June 15, 2024; Published: July 1, 2024  Show citation

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Wang P, Song H, Liu R, Jiang Y, Zheng Y. Analysis and Experimental Verification of Human-Robot Coupling Collaboration Characteristics for Lower Extremity Exoskeleton Rehabilitation Robot Based on ADAMS. Manufacturing Technology. 2024;24(3):467-477. doi: 10.21062/mft.2024.055.
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