Analysis of Assistant Robotic Leg on MATLAB

Assistant robotic leg is a kind of robot designed for patients whose legs are injured or have difficulty in movement due to illness (i.e., diabetes, after-illness of the thrombus, etc). Each side leg has one degrees-of freedom motion at the hip and one degree-of-freedom at the knee. It is tied to the patient´s two legs to help them practice walking. Based on generalized coordinates, the kinematical model of the assistant robotic leg is done. Through analyzing the trajectories of hip joints and ankle joints developed by cubic spline interpolation, together with geometry restrains and motion restrains of humans, the parameterized model of body´s walking pattern is derived. The hip trajectory and the ankle trajectory are also obtained by image analyzing method and they are similar to the model derived from theory analyses. Finally it proves the theoretical analysis correct through the comparative analyses between simulation and image analyzing. Based on Matlab/Simulink, SimMechanics, the assistant robot leg is simulated