[Retracted] The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis and Simulation
Authors: Li Jian , Peng Jian , Lu Zhen , Huang Kemin 
Published: August 2022

In recent years, due to the increase in the incidence of traffic accidents, the number of people with limb injuries has also increased. At the same time, among the aging population, neurological diseases or cardiovascular and cerebrovascular diseases have caused many people to have limb hemiplegia. It has been clinically proven that the use of rehabilitation equipment can help patients with limb injuries to restore limb motor function. This paper takes wearable lower limb rehabilitation exoskeleton as the research object, and its main contents are mechanical structure design, kinematics analysis, gait planning, virtual prototype simulation, and experimental verification and analysis. Based on the physiological characteristics of human body and the principle of comfortable and reliable wearing, this paper designs wearable exoskeleton for lower limb rehabilitation. Firstly, the physiological structure characteristics and movement mechanism of human lower limbs were studied and analyzed. By referring to the rotation range and height and size of each joint of human lower limbs, the overall scheme of wearable lower limb rehabilitation exoskeleton was designed and the degree of freedom was allocated. At the same time, Solidworks was used to establish a three‐dimensional model. On the basis of a 3D model, a kinematics model was established, and the forward kinematics solution was obtained by using homogeneous coordinate transformation. Since the inverse kinematics solution was relatively complicated, the inverse kinematics solution was conducted in this paper according to the geometric relations of the joints of the lower limbs. Kinematics analysis of the exoskeleton structure of wearable lower limb rehabilitation was carried out to lay a theoretical foundation for gait planning. The off‐line gait planning was carried out by using the method based on ZMP stability criterion, and the gait planning was divided into five stages: squat, start, middle step, stop and rise, and the motion trajectory of the center of mass and ankle joint was planned. Based on the inverse kinematics formula, the function of the change of joint angle with time in walking process is derived. The virtual prototype is established in ADAMS, and the simulation of virtual prototype is carried out by using the function of gait planning’s joint angle and time. The correctness of structural design and gait planning was verified by measuring the trajectories of the centroid and ankle joints in each gait stage and the functional relationship between the rotation angle of each joint and time. Then, using a 3D dynamic capture system to capture the human lower limb motion trajectory of each joint, each joint trajectory data output, using the MATLAB software to output data, gets the joint trajectory change over time function curve and is used to verify feasibility and applicability of human gait planning. Through the research and analysis of the joints of the lower limbs of the human body, it can be concluded that the hip joint and the knee joint have 3 degrees of freedom, respectively, and the knee joint has 1 degree of freedom.