Design and Development of Joint Motor for Medical Exoskeleton Robot

Abstract This article is based on the usage requirements of lower limb rehabilitation medical exoskeleton robots, and designs a joint motor mainly used for the hip and knee joints of lower limb rehabilitation exoskeleton robots as the main driving component; Analyzed the mechanical characteristics and torque output characteristics of the joint motor, and established a simulation model based on Maxwell software for calculation. The entire joint motor adopts a FOC control scheme. By verifying the application of physical prototypes, it is demonstrated that the joint motor has excellent performance in robot joint design; The rehabilitation range of motion for hip and knee joints has been determined, providing technical support for the design and development of rehabilitation medical exoskeleton robots.