Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory

Authors

Bingjing Guo, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;2. Henan Provincial Key Laboratory of Robotics and Intelligent System, Luoyang 471003, China;;
Jianhai Han, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;2. Henan Provincial Key Laboratory of Robotics and Intelligent System, Luoyang 471003, China;;3. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471003, China;;
Xiangpan Li, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;2. Henan Provincial Key Laboratory of Robotics and Intelligent System, Luoyang 471003, China;;
Yan Lin, 4. Wuhan COBOT Technology Co., Ltd., Wuhan 430074, China;

Abstract

Abstract: A pneumatic-driven gait rehabilitation robot based on rigid mechanism and flexible driver is designed. To explore the dynamic characteristics of the human-robot harmony system constructed by patients and the exoskeleton robot, the dynamic models of human, robot and human-robot system in different gait phases are established based on Lie group and Lie algebra theory. The driving and energy characteristics of three rehabilitation training modes of passive, active assistance and resistance are analyzed. The robot joint driven moment and the human active moment are simulated to verify the Lie group and Lie algebraic modeling method and the dynamic model. It provides a reference to the construction of the robot driving system and the design of the human-robot interaction control strategy.

Recommended Citation

Guo, Bingjing; Han, Jianhai; Li, Xiangpan; and Lin, Yan (2020) "Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory," Journal of System Simulation: Vol. 32: Iss. 6, Article 15.
DOI: 10.16182/j.issn1004731x.joss.18-0769
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss6/15

First Page

1126

Revised Date

2019-02-16

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0769

Last Page

1135

CLC

TP242.6;TP391.9

Recommended Citation

Guo Bingjing, Han Jianhai, Li Xiangpan, Yan Lin. Dynamics Modeling and Simulation of Gait Rehabilitation Robot Based on Lie Groups and Lie Algebras Theory[J]. Journal of System Simulation, 2020, 32(6): 1126-1135.

DOI

10.16182/j.issn1004731x.joss.18-0769