Lower Limb Exoskeleton Rehabilitation Robot Motion Modeling and Interactive Control Analysis

In response to the current global issues of an aging population and the high incidence of motor impairments, the study of lower limb exoskeleton rehabilitation robots aims to improve the efficiency and effectiveness of rehabilitation training through intelligent rehabilitation tools, meeting the growing demand for rehabilitation. This paper focuses on the motion modeling and interactive control analysis of lower limb exoskeleton rehabilitation robots. It sequentially explores key technologies such as forward kinematics, inverse kinematics, Jacobian matrix, workspace analysis, and gait simulation. Forward kinematics is utilized to compute the spatial positions and orientations of each joint in a robot, while inverse kinematics is employed to derive the joint angles from the end effector's position; Jacobian matrix analysis is used to evaluate the velocity and torque transmission characteristics of the exoskeleton; workspace analysis verifies the reachability and flexibility of the robot's movements; gait simulation ultimately verifies the correctness and stability of the entire motion model. In the future, rehabilitation robots will evolve towards more intelligent and personalized solutions. This development will allow them to provide patients with more effective rehabilitation options, supported by advancements in artificial intelligence and biosignal processing technology.