Design And Research On The Control System Of Lower Limb Weight Exoskeleton

Lower limb weight exoskeleton,is a wearable imitation human skeletal mechanical power device.Different from the traditional robot control method,the lower limb weight exoskeleton is a kind of machine for the power carrier,human control of the main body,a high degree of man-machine coupling complex force follow-up system,mainly used to enhance the human lower limb strength to help humans complete the heavy Load movement and help lower limb disabled persons walk and other activities.In this paper,the man-machine coupling exercise comfort problem in the exoskeleton of the lower extremity is analyzed,the movement law of the lower limbs of the human body is analyzed,the man-machine interaction behavior sensing method and the man-machine electro-hydraulic coupling control method are studied and verified on the prototype.This paper first investigates the current research on the law of exoskeleton and human biological movement of lower extremities at home and abroad,and further analyzes the sensing methods and control methods adopted.Based on human kinematics,the movement pattern and gait cycle of human lower limbs are analyzed.Through the optical movement to capture the system,the human body movement experiments,collecting lower limb joints in the walking and squatting process of movement data.According to the experimental data,based on the law of human behavior and gait movement,the typical action mode and gait phase of the human body are identified.Through the machine self-learning method and the practical engineering application,the mode switching and the gait phase prediction method are given,To solve the prototype to follow the real-time movement.According to the hydraulic dynamic experiment,the oil pressure and the pump output flow rate of the exoskeleton in different motion modes are analyzed,and the speed and torque are controlled according to the different motion state of the motor.The design method of the desired curve,the design of the control command and the design of the control circuit under the control method are analyzed in detail.The control method of the control curve is designed and the circuit is designed to ensure the design of the control circuit.Stability and fast response capability.Finally,the gait recognition method and the position servo control method under the man-portable heavy load are simulated and experimentally demonstrated.The five sub-phases are effectively identified,and the load is 60 kg walking and no load standing,walking,squatting,The operation of the switching process of several modes of squatting has been carried out to verify the reliability of the designed control method.In this paper,the control strategy of the hydraulic system is used to realize the energy saving control of the hydraulic system,and the correctness and reliability of the sensing and control methods are verified by the experiments of the human-machine heavy load.The theoretical support is provided for the further study of the power-enhanced dynamic exoskeleton and engineering validation.