Design And Control Of Ankle Exoskeleton Based On Human Perception Information

Walking is a basic form of activity for human beings that runs through our daily lives.Despite the rapid development of advanced transportation,walking still has significant advantages in locomotion in short-range,indoor,and unstructured complex environment.Although walking is efficient and easy to grasp,prolonged walking over long distances as well as the weekness of related musculoskeletal system can aggravate muscle load during walking,resulting in increased difficulty in walking.In the traditional medical field,rehabilitation training can not be initiated without professional methods and strictly defined circumstances.It cannot meet the requirement of walking assistance in daily life.To this end,this paper innovatively designed a lightweight,efficient and man-friendly ankle-foot exoskeleton system to support everyday walking.It can provide assistance of plantar flexion for people who have some capacity for walking,so that the walking efficiency can be improved.Design work can be divided into three parts:structure,hardware and software.The structure design is base on plane four-bar model.We establish the kinematic equation between the motor’s angle and the human ankle angle.To achieve better performance,the key dimension parameters are optimized.We have designed a complete hardware system,including the micro-controller Arduino,the five-channel real-time human information perception module and the the drive module.Data acquisition and transmission of plantar pressure signals and ankle angle signals were implemented by the software system.These signals,which are based on human perception information,are used to implement driving and control of the servo motor so as to realize the plantar force assistance in the terminal stance of gait.According to the design ideas,a prototype was made.A verification experiment based on surface EMG signal of gastrocnemius was designed to evaluate the performance of the device.The work and achievements of this article can provide some reference value for researchers in related fields in the future.