Design and Development of a Biped Robot for a Knee Exoskeleton Analysis

Abstract

Recently, exoskeleton has gradually diversified and are used in various walks of life. However, how to systematically analyze the performance of exoskeleton has always been a problem. In this research, a biped robot platform is developed for the performance analysis of active knee exoskeleton. The biped robot platform includes metal skeletons, detachable and realistic 3D printed leg contour, actuators which can transmit position, speed and current information, and inertial measurement units. In addition, a graphical human-machine interface is also developed for motion control and data acquisition on the biped robot platform. By wearing the knee exoskeleton on the biped robot platform, repeatable motion analysis of the knee exoskeleton can be realized. For more, by analyzing the position trajectory and current changes provided by the actuator of biped robot platform during the test motion, the performance of the exoskeleton can be evaluated directly.