Abstract: On the basis of the lower limb movement kinematics and dynamics analysis, a lower limb motion simulation system was established by the virtual prototyping technology. The human model was designed by ADAMS and the angle and moment of force in each joint were obtained through kinematics and dynamics analysis. The established model of lower limb was validated by the simulation of human lower limb movement under different road conditions. The experiment result shows that the walking process of each road conditions are stable and normal. It indicates that the virtual prototype model can accurately describe the process of human limb movement. The system can be used for the research on kinematics, dynamics and control method of lower limb, which has paved way for further investigation on the control of active transfemoral prosthesis and lower limb rehabilitation technical aids.

Key words: ADAMS, lower limb, dynamics, kinematics, simulation