A simulation method for walking gait of human daily activity oriented on intelligent artificial limbs and exoskeleton

The researchers are attracted by exoskeleton robot technique and intelligent prosthetic limbs development. Patients could be assisted to stand and walk again by exoskeleton robot. The exoskeleton technique, as one of robotics, has been primarily applied in medical rehabilitation successfully with important deeper value in military, medicine, aerospace, and marine area; while, in the early time, the technique was oriented on industrial robot tele-operation, human upper limbs and fingers gestures measurement, simply clinical rehabilitation training for limbs impaired patients. Walking is an important pattern of human daily activity. In human walking study, gait analysis has been widely used to enhance human exercise ability in the clinical rehabilitation, and gait tests data has already gained the approval of the medical staff. A new simulation method has been attempted to analyze gait cycle of daily walking activity to obtain the kinematics and dynamics characteristics for exoskeleton or intelligent artificial limbs. Firstly, a simplified simulation model of human body system should be built and the kinematic relationships of limbs joints would be translated and used to adjust the simulation model. Secondly, gait tests data would be inputted into that model to be simulated; afterwards, which data would be analyzed for human walking, exoskeleton developments and intelligent artificial limbs. Thirdly, the results would be compared to the tests data of the trajectory of COG and the mechanical work to validate the availability of the method.