Simulation of Limb Rehabilitation Robot Based on OpenSim

Lower limb rehabilitation robots have been widely used in medical treatment in recent years. The safety of robot in rehabilitation training should be considered. In this paper, the method to analyze complicated inverse kinematics and forward dynamics of lower limb rehabilitation robot is studied. Because of the mathematical model of lower limb is difficult to establish, the OpenSim software is used to simulate and analyze the human gait data which collected by the NOKOV optical motion capture system. According to the inverse kinematics simulation, the curve of each joint angle changing over time is obtained, and the reaction force acting on the ground is obtained through the forward dynamics simulation.