Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory

doi:10.16182/j.issn1004731x.joss.18-0769

Abstract

Abstract: A pneumatic-driven gait rehabilitation robot based on rigid mechanism and flexible driver is designed. To explore the dynamic characteristics of the human-robot harmony system constructed by patients and the exoskeleton robot, the dynamic models of human, robot and human-robot system in different gait phases are established based on Lie group and Lie algebra theory. The driving and energy characteristics of three rehabilitation training modes of passive, active assistance and resistance are analyzed. The robot joint driven moment and the human active moment are simulated to verify the Lie group and Lie algebraic modeling method and the dynamic model. It provides a reference to the construction of the robot driving system and the design of the human-robot interaction control strategy.

Key words: gait rehabilitation robot, human-robot harmony, Lie group and Lie algebra theory, dynamics, simulation

CLC Number:

Guo Bingjing, Han Jianhai, Li Xiangpan, Yan Lin. Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory[J]. Journal of System Simulation, 2020, 32(6): 1126-1135.

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