Design and analysis of hip joints for elastomeric exoskeleton robot
                                                            PEI Xiang1, ZHU Jian ping1, WANG Hao xu2
（1.School of mechanical engineering, Zhejiang University of Technology, Hangzhou 310000, China;2.Shanghai Shenpan Industry Co., Ltd., Sanlian Group, Shanghai 200120, China）

Abstract: Aiming at the design of hip joint of lower limb exoskeleton,which has complicated structure and poor coupling with the human body, using the technology of flexible mechanism in the structure design of the exoskeleton robot, a three-degree-of-freedom exoskeleton robot hip joint structure was designed. Due to the elastic plates can be bent and twisted, the hip outreach / adduction and external/internal rotation of the two movements were designed, and then the design of the elastomer was completed by mechanical analysis. And the MPU6050 multi-axis acceleration sensor was used, the angle data of hip motion before and after the wearing of the exoskeleton was collected, then imported to the Matlab for analysis, the angle curve of each movement direction of the hip joint was obtained. The angle curve of the front and rear angles was imported into the same coordinate system, and the differences in the direction was analyzed. The results indicate that the design is feasible, before and after wear the exoskeleton, the flexion/extension direction maximum differential angle is 4.89°, the outreach/adduction direction maximum differential angle is 1.58°, the external / internal rotation to exercise maximum differential angle is 1.06°.

Key words: exoskeleton robot; hip joint; passive degree of freedom; elastomer; contrast experiment