Parameter Optimization Design of a Cable-Driven Bionic Muscle Mechanism Based on Hill Muscle Model for Flexible Upper Limb-Assisted Exoskeleton

摘要

In this paper, a cable-driven bionic muscle is designed for the flexible upper limb-assisted exoskeleton. And, it simulates the characteristic of muscle output force from the perspective of mechanism design. The structure of the designed exoskeleton and the designed bionic muscle are introduced. Then, the dynamics model of elbow joint is established based on the Hill muscle model and muscu-loskeletal model. Finally, by optimizing the key parameters, the force-displacement curve of the mechanism is approximately consistent with that of human muscle. That means, in the stable state, the stiffness of the bionic muscle is similar to that of the human body. It helps the flexible upper limb-assisted exoskeleton improve its bionic performance.