Research And Realization Of System Control Mechanism Of Lower Limb Loaded Exoskeleton

The Lower Limb Exoskeleton Robot System is a kind of system which combined the intelligence and the flexibility of human beings with the mechanical power of the mechanical structure. It has got much attention in the area of military and biomedical science etc. The system can closely joint the lower limb of the wearers and imitate the walking gait of normal people’s lower limb, which can coordinate the movement with the wearer as well as enhancing the wearer’s load ability, speed and endurance ability. The system has a very nice market prospect.The lower limb exoskeleton system used the design idea of bionics which from human anatomy to each movable joint of human beings lower limb of exoskeleton. By studying the characteristics of human beings’ lower limb bones and it’s the movement mechanism, we have worked out a wearable lower limb exoskeleton robot prototype which can be weared quickly and also can be adjusted by regulating the waist beam and thigh and shank’s connecting rod length according to the wearer’s body character. Following the stability criterion principle of ZMP(Zero Moment Point), a kind of gait control strategy is proposed which is based on cubic spline interpolation. The hardware platform of the lower limb exoskeleton system is built with PC as upper computer and six-axis motion control card and STM32 as lower computer. Communication protocol between upper computer and lower computer is performed by Ethernet and the 485 bus. A set of control software is developed on the hardware platform. The software can complete three movement models-automatically, manually and position, meanwhile, power, voltage, current, temperature and some other parameters of each motor can be measured on real time and the changes of waves can also be displayed.After finishing the construction of the Lower limb exoskeleton robot prototype test platform, on which human wear test and walking gait test are completed. By trial and error, it verified the stability and reliability of the mechanical structure, the hardware platform and the software platform of the Exoskeleton Robot, as well as verified the feasibility of the control strategy.