A Spherical Hip Joint Mechanism Design and Control Method

In this paper, a spatial two-degree-of-freedom spherical hip joint mechanism is designed on the basis of the human lower limb hip joint structure. The mechanism consists of two motors connected in series, which are controlled by two motors cooperatively. It has two degrees of freedom and can drive the thigh to achieve flexion, extension, abduction, adduction and leg lifting movement to the lateral front. This paper analyses the motion process of the mechanism, establishes a dynamics model, designs a position-based impedance control algorithm, conducts platform experiments, and proves the reasonableness of the platform design and the effectiveness of the algorithm design through the experimental results.