Structural design and dynamic simulation analysis of lower limb exoskeleton robot based on pneumatic muscle

Abstract With the aggravation of population aging, flexible exoskeleton, as an innovative wearable device, has broad application prospects and great development potential in many fields. In this paper, a lower limb flexible exoskeleton is designed based on pneumatic muscle, and its dynamic modeling is carried out by using the Lagrange method. The dynamic simulation of the exoskeleton is carried out by using ADAMS software, and the changes in joint angle, angular velocity and joint torque are obtained, which provides a theoretical basis for the selection of flexible lower limb exoskeleton pneumatic muscle and the design of control system.