Research And Design On The System For Lower Limb Exoskeleton Robot

Lower limb exoskeleton robot was used to help paralysed patients to regain the ability of walking. It was a new product in the field of medical field whilch used in the robot technology. It made the rehabilitation process of paralysed patients more and more simplified. Rehabilitation data could be recorded by exoskeleton robot to help the doctor assess the patient’s walking rehabilitation level.The research target and development direction of exoskeleton robot was establised in the thesis which based on the study of the present situation and technical difficulties at home and abroad. Firstly, a set of mechanical structure which was fitted with human body Fully was designed by combining human body kinematics with bionics principle. It can met the different height of paralysed patients by adjusting the length of the bracket.Secondly, a set of hardware system platform for exoskeleton robot was set up which included motor, angle sensor, pressure sensor, control watch and the main board. Angle sensors were used to inspect the user’s posture. Pressure sensors were used to determine the position of user’s center of gravity. Control watch was a remote control of the lower limb exoskeleton robot.Lastly, a perfect control system for exoskeleton robot was designed to achieve three modes which were Stand-up mode, Keep-walking mode and Sit-down mode respectively. The Keep-walking mode was distributed to The-first-step-walk process, Continue-walk process and Move-foot process. Three modes were designed according to the special case of paralysed patients. Every mode had its own states, process and implementation. Besides, an amount of experiments were implemented to test the functionality of the control strategy. We summarized some important parameters of the sensor data and design parameters of control system based on the analysis of test data. It provided an important guarantee for the stability of the system, and contributed to the further research.