Research on Human Machine Coupling Simulation of Lower Limb Exoskeleton Robot Based on OpenSim

Abstract In the field of lower limb rehabilitation and gait assistance, exoskeleton robots have gradually become an important technical means to improve walking ability. However, due to the complexity of the human body and ethical limitations, some existing experimental methods are difficult to measure the mechanical response and metabolic changes of internal muscles in the human body after wearing exoskeletons. OpenSim has sophisticated musculoskeletal modeling and mechanical analysis capabilities, capable of simulating human muscle activity and energy metabolism under exoskeleton intervention. This article adopts the Gait2354 model in OpenSim to construct a human-machine coupling system combined with lower limb exoskeleton structure, and uses the walking data provided by OpenSim for simulation analysis. By comparing the changes in muscle force during walking before and after wearing exoskeletons, the assistive effect of the designed exoskeleton structure is evaluated to verify the structural design rationality of the lower limb exoskeleton robot designed in this article.