부산대학교 도서관

Aiming at the needs of rehabilitation training and movement substitution for the elderly and patients with lower limb movement disorders， a multi-purpose lower limb exoskeleton robot is designed， which utilizes auxiliary standing mechanism and exoskeleton to realize the rehabilitation training of lower limbs for users. Five-bar models of the one-leg support stage and the two-leg support stage of the exoskeleton robot are established， and the dynamics model is deduced by Lagrange method to deduce the theoretical moments required for each joint. A virtual prototype model is established to carry out dynamics simulation， and the simulation data is compared with the theoretical data to verify the rationality of the design of the exoskeleton robot with the accuracy of the theoretical deduction， which provides a theoretical basis for motor selection.