The Design Of The Control System Of Dynamic Walking Aid

The walking aid is a branch of robotics, it involves ergonomics, robotics, mechatronics and computational science, etc, but also domestic and international research hot spot. The dynamic walking aid is human integration mechanism that provides the impetus for lower limb paralysis walking, due to the special object of the device, the control system of the dynamic walking aid demands higher performance. Foreign walking aid research is quite developed, on the contrary, our country walking aid research has just started, so the topic research has important practical application significance.The paper comes up with ten degrees of freedom driven design that plays a very important role in human lower limbs during walking. The wear dynamic walking aid people are consistent with the normal gait as much as possible during walking, so it provides a comfortable and efficient way of walking for lower limb paralysis.The paper presents scheme that contains a PC host computer, a high-speed digital signal processor ATmegal28 microcontroller for the lower host and two high-speed digital signal processor ATmega128 microcontroller for lower slave. We control ten degrees of freedom synergistic motion by TWI bus, and we analyse the results on the scheme through the Simulink simulation and the Proteus simulation, thus learned its feasibility.The main research focuses on the match of the mechanical structure and the control system of the dynamic walking aid, and the kinematic analysis and the basic theory of the dynamic walking aid control. The paper focuses on the control system design of the dynamic walking aid, and the coordinated movements of the ten degrees of freedom is achieved by TWI communication that is also the subject of critical. The last chapter of this article verifies that the TWI communication and successful collaborative movement of the motor by Proteus simulation software.In this paper, the design of the control system of the dynamic walking aid has a certain rationality, higher operating safety, the movement coordination of degree freedom of and wearing comfort. It provides the material basis for the walking stability study in the future. The walking aid system achieve the control aim by using normal human motion information, and it characteristics typical man-machine integration system, but also laid the foundation for the product of walking aid.