Research On Human-machine Cooperative Control Of Lower-limb Assisted Exoskeleton Robot

Wearable power assisted robot is a kind of robot that realizes motion control through human-machine interaction.The key technologies include moving joints in the same range of motion as the human body,mechanical structures with unloading capacity,motion collection of the user's body movement,and coordinated motion control between human and robot,etc.This paper focuses on the human motion prediction and control of the lower-limb assisted exoskeleton robot system.The research is carried out by combining theory,simulation analysis and physical experiment,which is composed of the following four aspects:(1)The mechanical structure and hardware system of lower-limb assisted exoskeleton robot are introduced,and the dynamics of lower-limb assisted exoskeleton robot is analyzed.In this paper,the Lagrange dynamic equation is used to derive the lower-limb assisted exoskeleton robot,which lays a foundation for the design,analysis and control of the lower-limb assisted exoskeleton robot.(2)The human motion signal acquisition device is built and the human motion acquisition and prediction algorithm is written.In this paper,inertial sensor and plantar pressure sensor were used to collect human body movement,and NAR neural network and SARIMA prediction model were used to predict human body movement,which played a good role for sensing human body movement and accurately controlling exoskeleton movement.(3)The algorithm of man-machine cooperative control is compiled.The simulation environment of man-machine cooperative system is built by MATLAB software,and the two algorithms of Iterative Learning and Fuzzy self-adaptive PID are studied.The Fuzzy selfadaptive PID Control algorithm is written in C++language on PCM-3365 control board,and the experiment of exoskeleton robot motion control is carried out.(4)The experiment explores the performance of the lower-limb assisted exoskeleton robot.The following,assisting effect and adaptability of the human wearable lower-limb assisted exoskeleton robot were evaluated to judge the actual performance of the lower-limb assisted exoskeleton robot system.