To increase the individual combat capability, a novel lower extremely exoskeleton robot
(LEER) combining artificial intelligence and machinery is proposed for power assisting. The purpose
of this study is to provide the design and dynamic simulation of a proposed novel LEER by addressing
recent patents and scholarly articles. In this paper, recent developments and patents regarding the LEER are illustrated in
detail firstly. Then, a structural design of the robot is performed which refers to the structure and motion freedom distribution
of the human lower extremity joints to achieve a highly integrated of human-computer. Subsequently, the motion trajectory
of main joints of the LEER is measured and the corresponding algorithm is fitted referring to the human normal
walking gait. It is followed by a numerical simulation of the fitted algorithm using the Matlab software, and then the motion
data of the corresponding joints is gained. Finally, dynamic simulation is conducted with the Adams software after
importing the calculated motion data. And the motion data of the driving cylinder of each joint, including the displacement
curve and driving force curve, are obtained. Simulation results indicate that the designed novel LEER can commendably
simulate the human pace after the gait planning.
Keywords: Driving force, dynamic simulation, gait planning, lower extremely exoskeleton robot, motion trajectory, power
assist, structural design.
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