Research On The Structural Design And Random-motion Control Method Of The Wearable Lower Limb Exoskeleton Robot

In recent years,with the increasing demand for wearable auxiliary equipment in the fields of medical rehabilitation,warehousing and logistics and military applications,wearable lower limb exoskeleton robots have won wide attention from all walks of life.This study studied the structural design and random control method to improve the exercise capacity and reduce the metabolic energy consumption of the lower limb muscles.The specific study content is as follows:Firstly,fully understand and master the physiological structure and gait characteristics of the main motion joints of the lower limbs,then investigate the CGA and the Open Sim gait simulation experiment obtained the motion parameters of the lower limbs,after fitting the obtained data as the driving function of the lower limb joints.Based on this basis,the exoskeleton structure of the lower limbs is optimized to improve its safety performance.Secondly,the kinematic and kinetic analysis of lower limb exoskeleton robots were completed by the D-H parameter method and closed algebraic solution and Lagrangian equations.Thus,the position and speed of the marker point and the driving moment of the lower limb joints can be calculated,so as to provide a reference for the modeling and control of the exoskeleton robot.The human-machine coupling model was established in ADAMS,and the theoretical results of kinematics and dynamics were verified by lower limb motor gait simulation.Finally,a fuzzy adaptive control method is designed to test different control methods in a joint simulation platform.Compared with the traditional control method,the influence of the nonlinearity,the uncertainty and the external perturbation on the random control accuracy during the motion is greatly reduced.Further,the muscle energy metabolism involved in human lower limb movement was analyzed by Opensim.The results show that the control performance of the controller meets the requirements of daily activities,and can provide necessary assistance for the wearer to help it under different conditions.