Postural Control Of Lower Limb Exoskeleton Robot In Slope Terrain

With the increase of age,the physical function of the elderly is gradually declining,and the muscle strength of the lower limbs is weakened,which is easy to cause hemiplegia of the lower limbs,leading to inconvenience of action,loss of exercise ability and living ability to a certain extent,and bringing a huge burden to the family and society.In this paper,a lower limb exoskeleton robot is designed,which is worn on the legs of the elderly.It can assist the elderly to stand and walk,and meet the urgent needs of the elderly.The main contents of this paper are as follows:First,the motion process of human body in the slope terrain is recorded,and the rotation angle and angular velocity of human hip and knee joint are obtained.The motion law of human body in the flat,upper slope and lower slope is revealed.The temporal relationship of human lower limb motion is quantitatively analyzed,which provides a theoretical basis for the structural design and bionic control of lower limb exoskeleton robots.Second,according to the requirements of function decomposition,five design schemes are proposed.Delphi-AHP method is used to evaluate the scheme and determine the optimal design scheme.Draw the structure diagram of lower limb exoskeleton robot,clear the working principle of lower limb exoskeleton robot.Third,this part studies the bionic control model of human lower limb movement,analyzes the vestibular reflex mechanism of human body in slope terrain,establishes vestibular reflex feedback,introduces human-computer interaction feedback,and improves the stability and adaptability of lower limb exoskeleton robot in slope terrain.Finally,the three-dimensional modeling and motion simulation of the wearer and the exoskeleton walking aid robot are carried out.The motion posture of the wearer and the exoskeleton walking aid robot in the flat,up slope and down slope is analyzed,and the dynamic simulation curve is obtained.The research results show that the wearer and the exoskeleton walking aid robot move smoothly in the slope terrain,and have good man-machine coordination.Lower limb exoskeleton robot can help the elderly to stand and walk.It is suitable for slope terrain and improves the stability of movement and environmental adaptability.It has important scientific significance,social value and application prospects.