Development of a Bionic Leg Robot for Knee Exoskeleton Test

Abstract

With the increase of exoskeleton products, how to provide standard measurement and objective evaluation of exoskeleton become important. However, the instability and cumbersome procedures of traditional body-worn test method make them difficult. In this research, a bionic leg robot suitable for knee exoskeleton testing is proposed. By executing repeatable designed test actions, the bionic leg test platform can provides stable test conditions and achieves reliable exoskeleton experimental environment. In addition, the test platform can provide angles, angular velocities and load current trajectories of each joint of the bionic legs during executing actions. These information can be further used as characteristic analysis for an exoskeleton. For more, the outline of the bionic legs is composed of detachable parts made by 3D printing, so desired leg shape can be customized according to needs of exoskeleton test conditions. Finally, designed test action was performed on the bionic leg test platform wearing a knee exoskeleton, and measured data are analyzed to verify the feasibility and effectiveness of the test platform proposed in this research.