Lower Limb Exoskeleton Robot Based On Human-robot Cooperation Strategy

In recent years,the number of patients with hemiplegia is increasing rapidly in China,and hospitals generally face the shortage of medical resources and the defects of equipments.In this dissertation,a novel lower limb exoskeleton robot centered on the idea of human-robot cooperation is designed.The exoskeleton can assist hemiplegia patients finish their rehabilitation training.The main work of this dissertation are as follows:(1)The lower limb exoskeleton robot is composed of a real-time robot follower and a lower limb exoskeleton robot.The real-time robot follower can track the user's movement and provide real-time protection.The lower limb exoskeleton robot can correct the user's lower limb movement.They can help patients safely perform ground rehabilitation training,which is impossible for traditional exoskeletons.(2)Based on the analysis of human lower limb motion,a finite state machine model is designed.Different rehabilitation training tasks and human actions are divided into independent states.A recognition algorithm using the surface electromyography signals and plantar force signals are proposed to drive those states switch,which can help the exoskeleton understand users' motion intention.(3)Aiming at solving the lag of recognition algorithm and the error of expected trajectory,"human-in-the-loop" control methodology is proposed.A barrier function divide the task space into an available area and an unavailable area.When the human lower limbs drive the exoskeleton moving in the available area,the system will only provides gravity compensation to help the patient freely adjust the movement trajectory within the area.Once the exoskeleton enters the unavailable area,it will be immediately inhibited by the powerful system force,and users will be send back to the availability area.So as to make the system comply with the user's active movement within a reasonable range,and correct the user's wrong movement intention in an illegal area.(4)To improve the enthusiasm of hemiplegic patients using exoskeleton for rehabilitation,a software platform based on virtual reality technology is designed.the VR devices are used to capture and transmit users' behavior to the virtual world for repro-duction.And the changes of the virtual world can also be observed in the VR glasses,which can affect users' behavior in the real world,so as to realize the closed-loop immersion rehabilitation experience.