Study of human motion capture and robot motion replay for lower limb exoskeleton

摘要

The purpose of this paper is to study about the human motion and prepare to make the lower limb exoskeleton tracking the human motion. Two lower limb models are established for comparing the states of human motion and robot motion. The first model is established by the human skeleton parameters and controlled by orientation matrixes feedback by the WSSS (Wireless Standalone Sensor System) which are fixed on human legs, and the second model is established by the robot links' parameters and controlled by the joint angles, which are calculated by the inverse kinematics based on data from sensors. The motion data of the two motion models are collected to compare the motion paths. The experimental results show that the movement paths of the two lower limb models are almost same. This shows that the joint angle solved by inverse kinematics is correct and it can be used for controlling the robot.