Design and Kinematics Analysis of the Exoskeleton Mechanism for Detecting Motion Information of Lower-limb Arthosis

The kinematic properties of human lower-limb arthrosis,the gait pattern characteristics of human up-stand walking,as well as the influences of the kinematical difference between human arthrosis and machine joint on human-machine consistence are investigated in detail.According to the functional demand analysis of lower-limb rehabilitative training and by adding linking joint into the human-machine connective chains,a novel exoskeleton mechanism used to detect the motion information of lower-limb sciatic and knee arthosises is proposed.The motion mapping between human lower-limb arthrosises and exoskeleton mechanism's joints is established,and kinematics simulation of the human-machine closed kinematic chain is presented.Results show that the motions between lower-limb arthrosises and exoskeleton mechanism's joints have quantificational relationships,and the motion information of human lower-limb arthrosises corresponding to human up-stand walking can be detected from the sensors installed at the joints of exoskeleton mechanism.