Design and Research of Variable Instantaneous Center Exoskeletons Driven by Pneumatic Artificial Muscles

Ainring at the problems of low matching between the existing lower limb cxoskeleton strueture and the body, a new variable instantaneous center artificial knee Joint driven by pneumatic artificial muscles was proposed by introducing additional degrecs of freedom on the existing anti-quad-rilateral joints. Combined with the kinematics analyses of the variable instantaneous center exoskele-ton, the instantaneous center trajeetory equations were solved, and the particle swarm algorithm was used to optimize the design of the knee Joint struetures. At the same timc, the PID Controller was used to simulate and analyze the motions, and experimental research was carried out. The results show that the instantaneous center trajeetory of the proposed new variable instantaneous center artificial knee joints has a better match with the ideal instantaneoust center trajeetory of the human joints, which provides reference and empirical support for the optimal design of the human-machinc compatible struetures. © 2024 Chinese Mechanical Engineering Society. All rights reserved.