Test model of lower limb exoskeleton robot

1、 System Introduction
The lower limb exoskeleton robot testing module includes a module, supporting fixtures, and hip, knee, and ankle joint angle acquisition sensors as the core, which realizes the measurement of the operation and other performance of medical robots during the motion process. The system complies with the YY/T · 1973-2025 standard for medical lower limb exoskeleton robots. This includes items such as exercise pace/frequency, exercise step length, exercise resistance, joint movement angle, working load, static load strength of main supporting components, handle, grip bar, protective belt, and static load strength under special circumstances.

The system utilizes magnetic encoders, Hall sensors, or potentiometer angle sensors (configured according to requirements) to accurately measure real-time joint angles by detecting changes in magnetic fields, magnetoresistance effects, or resistance voltage division. This enables the measurement and calculation of joint motion angles and other parameters during the movement of exoskeleton robots. The system mainly includes an exoskeleton robot testing system module, supporting fixtures, hip, knee, ankle joint angle acquisition sensors, and automatic acquisition function software. The joint angle acquisition sensor is used for real-time acquisition of 6-channel static and dynamic data of hip, knee, and ankle joint angles, and has the characteristics of high accuracy, good reliability, and high efficiency. The angle measurement accuracy of the exoskeleton robot testing system is not greater than 0.1 °, the angle range of each joint is -180~180 °, the maximum detection speed is 100RPM, and the sampling frequency is up to 100Hz.

Lower limb exoskeleton robot

Test model of lower limb exoskeleton robot

2、 Technical parameters

Load dummy section
1. The height adjustment range shall not be less than 1600-1900mm, and the minimum height adjustment interval shall not exceed 5cm;
2. The center of mass of the lower limb leg rod always matches the height, with an error of ≤ 3cm; hip joint flexion and extension angle: flexion 45 degrees, extension 25 degrees; Knee joint flexion and extension angle: flexion 70 degrees, extension 5 degrees; Ankle dorsiflexion and plantarflexion angles: dorsiflexion 20, plantarflexion 20 °;
3. Only one specification of torso weight block is used, with a weight error of ≤ 5%;
4. There are only 2 types of weight block specifications for both thighs and calves, with a weight error of ≤ 6%;
5. Service life of hip, knee, and ankle joints: ≥ 100000 times.

Fixture hanger section
1. Disassemblable for transportation, height after disassembly: ≤ 1800mm;
2. Maximum height for exoskeleton: 1500mm; maximum height for dummy: 1900mm; longitudinal range of motion: 800mm;
3. Maximum applicable load for exoskeleton: 40kg; maximum applicable load for dummy: 135kg; force protection: vertical interference support force: ≤ 80N;
4. Maximum lateral tilting thrust: ≥ 400N;
5. Follow up running platform: length: ≥ 1000mm, width: ≥ 600mm.

Specialized analysis software functionality
1. Hip, knee, and ankle joints are equipped with angle sensors, with an accuracy of less than 0.1 ° for angle measurement; The collection angle range of each joint is -180~180 °, the maximum detection speed is 100RPM, and the working temperature is 0~45 ℃; Real time display of 6-channel joint angle curves, with the highest sampling frequency of 100Hz;
2. Specialized software generation: gait trajectory, step length, step height, step frequency, step speed, step count;
3. Specialized software generation: The step frequency detection range is 0.5-20 seconds per step, the maximum step speed detection is 10 kilometers per hour, and the maximum cumulative step count detection is 1 million steps per time;
4. Specialized software generation: It can generate indicator results that meet ISO/IEC/industry standards based on actual testing requirements (customized according to requirements).