Hydraulically Driven Exoskeleton Power Source in Sports Rehabilitation

The article designs the mechanical structure of a power-assisted exoskeleton robot based on hydraulic drive. The article uses ADAMS software to establish a multi-body dynamics model of the mechanical system to verify the feasibility of the designed mechanism. We analyse the exoskeleton kinematics model, and set the corresponding parameters in combination with the standard gait of the human body to obtain the curve of the exoskeleton robot joint angle and the expansion and contraction amount of the hydraulic cylinder. The movement of the hip and knee joints in the sagittal plane is controlled through pre-programmed control methods, to help patients achieve rehabilitation through exercise relearning methods.