Biomechanical simulation analysis of human lower limbs assisted by exoskeleton

Aiming at the problem that the current iterative period of exoskeleton robot design is long and it takes a lot of time and cost. Using the OpenSim simulation method, a musculoskeletal biomechanical model with auxiliary devices was constructed, and the coupling simulation between the human lower limbs and the rehabilitation robot was realized. The muscle strength and metabolism curve of the exoskeleton lower limbs were obtained, and the stiffness of the exoskeleton was analyzed. The results showed that after the exoskeleton was added, the metabolic cost of the lower limbs of the human body was reduced by 6.2%, and the stiffness should be 275 N / m. This research can help designers to quickly verify the hypothesis, which will provide a basis for the design and development of exoskeleton robots, and has important theoretical research significance for its mechanical structure and control design.