Exoskeleton robot gait control method based on pressure sensors

Abstract

The invention discloses an exoskeleton robot gait control method based on pressure sensors. An exoskeleton robot is jointly controlled by data of the leg pressure sensors and data of the foot sole pressure sensors, the data of the leg pressure sensors realize the main control effect, and the data of the foot sole pressure sensors realize the auxiliary detection effect. The gait control method is simple and reliable, avoids misjudgment and prevents tumbling, the robot can follow wearers to execute different gaits and can adapt to various terrains, and control is more humanized.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a method for controlling the gait of an exoskeleton robot based on a pressure sensor. The movement intention of the wearer is judged by the multi-axis pressure sensor data of the legs and the micro-load pressure sensor data of the soles of the feet, and the exoskeleton is controlled. The gait of the robot avoids misjudgment and prevents falls, and at the same time follows the wearer with different gaits, adapting to various terrains, and the control is more humanized. Background technique [0002] The exoskeleton robot is a wearable power-assisted robot. The main structure is humanoid limbs for load-bearing. Through its special structure, the user who wears it can complete some tasks that cannot be completed by the human body alone. Disaster relief, soldiers marching with heavy loads, medical treatment and other fields all have broad application prospects. ...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the wearer's upper limbs can only be used to issue commands, but not other activities, and the operator must issue commands continuously, which not only wastes physical strength, but also makes the wearer's movement very difficult. unnatural