Analysis and experimental research on stability characteristics of squatting posture of wearable lower limb exoskeleton robot

Abstract

Aiming at the problems of complex movement posture, many degrees of freedom and flexible movement of the human body’s lower limbs, a dynamic mathematical model of the squat posture was established, and analyzed the dynamic parameters of the hip joint, knee joint and ankle joint during the squatting posture of the wearable lower extremity exoskeleton robot. Based on the MATLAB simulation software, the motion characteristics of the squat posture are simulated and analyzed, and the results show that: in the process of squatting, the theoretical calculation results are quite different from the simulation results, indicating that the process of squatting is unstable. Therefore, based on the Zero Moment Point (ZMP) theory, a stable polygon of the squat posture is established, the instability rate is defined. From a qualitative and quantitative point of view, the effects of the squat posture and the change of the center of gravity (COG) on the motion stability are analyzed. An experimental platform was built and the experiment was performed to verify the COG and ZMP changes in the squatting posture, which verified the correctness of the theoretical calculation conclusions and the influence of COG changes on ZMP.