Research On Lower Extremity Exoskeleton Assisted Robot

The lower extremity exoskeleton robot is a wearable bionic robot.It has great research value and broad application prospects in the fields of military operations and civil life.This paper is based on the premise that query the development of exoskeleton assisted robots at home and abroad,reference to biped exoskeleton robot designed at home and abroad,exoskeleton assisted robots at home and on the basis of understanding human walking gait,human physiological structure,researching and learning robot gait analysis method,robot control algorithm.Complete the following aspects of work:(1)Mechanical design of exoskeleton robot.The mechanical structure design needs to use the SolidWorks software to establish a three-dimensional model of the exoskeleton robot according to the height and body proportion of the human body.The exoskeleton robot has 8 degrees of freedom.The hip joint has two degrees of autonomy,one degree of freedom in the knee joint,and one degree of freedom in the ankle joint.The height of the hip joint and knee joint can be adjusted to accommodate people between 160cm～180cm.All joints have mechanical limit to ensure the safety of users.(2)Construction of exoskeleton robot data acquisition system.This paper deals with the real-time data acquisition system,including the human joint angle information acquisition system,foot pressure data acquisition system,human-computer interaction data acquisition system.Among them,the joint angle information acquisition system uses reverse kinematics to complete the angle calculation,and then completes the exoskeleton robot model establishment through forward kinematics.Real-time measurement of plantar pressure,human-computer interaction and other information provides an important guarantee for the realization of exoskeleton control algorithm.(3)Study the exoskeleton robot control system.The exoskeleton robot control system mainly includes the bottom control system and the upper level control system.The underlying control system mainly includes data transmission processing,PID algorithm,NRF wireless communication,CAN communication,DMA technology and so on.After that,the collected data is processed by EWMA filtering,regression fitting,data interpolation and other algorith ms.After filtering and fitting the data,the joint angle equation is parameterized,and the humancomputer interaction force is combined to realize the effect that the exoskeleton robot automatically adapts to the human motion characteristics.Finally,we evaluated the exoskeleton robot system through WSSS,human-machine interaction and foot pressure.(4)Exoskeleton robot experiments mainly include the display of exo skeleton robots,the display of the exoskeleton robot’s upper computer interface,the exoskeleton robot wear effect and data display,etc.