Control Research For Walking Assistant Lower Limb Exoskeleton Robot

Lower limb exoskeleton robot is a kind of bionic robot which needs to be combined with the human body to help the human body walk.In this paper,the previous results of the exoskeleton research are absorbed and studied,and the gait characteristics of human body are studied autonomously.According to the gait law of human body found in the study,a new type of mechanical structure of lower extremity exoskeleton is designed,the walking stability theory is also studied.The main research contents are as follows:(1)The design and manufacture of the mechanical structure of the exoskeleton robot.Using CAXA electronic drawing board and SolidWorks designed 2D and 3D drawings of the exoskeleton robot.Selecting the appropriate joint motor and harmonic gear drives,the torque is enough to drive the human joint to rotate,and can not be too heavy,the rotation speed can not be too slow.The exoskeleton has eight degrees of freedom,one for at the hip,one for the knee and two for the ankle..The exoskeleton is required to adapt to users with different leg lengths,and the comfort and tightness of the combination with the human body should be considered in the design,and the mechanical limit should be set to ensure the absolute safety of users(2)Establishing the signal transmission and control system between the exoskeleton and the upper computer.During the use of the exoskeleton,data communication is required between the sensor,upper computer,lower computer and the exoskeleton,and wireless signal transmission is required in most places.In this paper,a set of reliable signal transmission and the control system is established,which enables the upper computer to receive real-time sensor data,monitor and calculate,and continuously the control exoskeleton walking by wireless means..(3)The gait of human walking is studied.By collecting data from WSSS attitude sensor,foot pressure sensor and EMG signal sensor,the characteristics of human walking were analyzed to find out some rules that can keep human walking stable and apply them to the stability control of exoskeleton.A new method to maintain the stability of exoskeleton walking was proposed.(4)Experimental analysis and Showing the walking process of the exoskeleton.The exoskeleton continuously adjust the joint Angle according to the data received by the sensor during the walking process,so as to ensure that the exoskeleton walking in combination with the human body can always be in a stable state.The reliability of the signal transmission and the control system is verified by comparing the actual value of the joint Angle calculated by the upper computer with the actual value of each joint Angle.