Human Leg Training Machine Based on The Multi-linkage System

TL;DR

This paper presents a multi-linkage robotic leg training device driven by a motor, designed to assist individuals with leg defects by simulating natural walking trajectories and controlling movement through torque and velocity regulation.

Contribution

It introduces a novel multi-linkage system for human leg training, including trajectory simulation and motor control for flexible walking assistance.

Findings

Successful simulation of leg movement trajectories

Effective motor torque control for trajectory and velocity

Potential to assist people with leg defects in walking

Abstract

In real life, many people have leg defects. the goal of our work is to design a mechanism which could help them walk based on a specific trajectory and realize flexible walking finally. In this paper, we use a motor to drive a multi-link leg mechanism. The major issues addressed in this paper are as follows: (i) design human leg training mechanism based on the multi-link mechanism (ii) Simulate leg movement trajectory of multi-link mechanism based on walking process (iii) make use of one motor torque control to control the trajectory and velocity of this mechanism.