Design and Simulation Study of the Translational-knee Lower Extremity Exoskeleton

Abstract

In order to make the structure of lower extremity exoskeleton more compact and simple, as well as to provide theoretical basis for the power support effect of lower extremity exoskeleton, the translational-knee lower extremity exoskeleton was designed and the simulation by using Adams was carried out. By comparing the simulation results of three different cases, it can be concluded that the torque range of each degree of freedom (DOF) of the human body does not shrink much by wearing the lower extremity exoskeleton; but the energy consumption in the process can be reduced by 58.6% for extra bearing 100Kg payload. It proves that the translational-knee lower extremity exoskeleton can effectively help human body bear heavy payload, and can reduce the energy consumption of human body in the process of walking.