Research On Control Strategy Of Rehabilitation Lower Extremity Exoskeleton Based On Gait State Machine

Lower extremity exoskeleton for rehabilitation is a wearable device that has the function of assisting lower extremity rehabilitation training and improving the ability of autonomous exercise in patients with lower extremity motor dysfunction.The research on rehabilitation lower extremity exoskeleton has important social application value and academic research significance in rehabilitation physiotherapy,helping the elderly and helping the disabled.In recent years,it has become a hot spot in the research of lower extremity exoskeletons.This paper research on rehabilitation lower extremity exoskeleton and its control strategy with the support of The National Natural Science Foundation of China(91748110).In order to make the lower extremity exoskeleton have the characteristics of the lower extremity movement of human body and assist the wearer in walking,the analysis of the characteristics of the lower extremity joint movement and the rehabilitation gait during the walking process of the human body were carried out.The structural scheme of the modular joint actuator was adopted in the study,and a prototype of the rehabilitation lower extremity exoskeleton was developed.According to the characteristics of human lower extremity joint movement and rehabilitation gait,a control strategy of rehabilitation lower extremity exoskeleton based on gait state machine is proposed.The gait state machine simulation system is established in the MATLAB/SIMULINK environment.A system test platform based on Elmo motion controller and modular sensor unit was built,and the control software programming based on C#was completed.The stand-sit and walking tests wearing prototype were conducted.The test results show that the test prototype can realize the motion control of different motion stages based on the sensor information when using the motion control strategy based on gait state machine.After wearing the prototype,volunteer can effectively control the exoskeleton to complete daily movements of lower extremity such as walking,stand-sit and sit-stand.The system simulation data and the test results of exoskeleton prototype verify the rationality of prototype structural design and the feasibility of control strategy.It has important application value for performance improvement and control optimization of rehabilitation lower extremity exoskeleton.