Reoccurring method for lower limb joint motion based on wearable walk-help exoskeleton

Abstract

The invention relates to a reoccurring method for lower limb joint motion based on a wearable walk-help exoskeleton, and belongs to the field of exoskeleton joint motion control. The method includes the detailed steps that torque compensation is performed; the exoskeleton is in a torque control mode; information collection is performed; all joint motion data of a healthy person in all typical actions is collected through a driver of the exoskeleton and processed, and then joint motion data reference of all the typical actions is obtained; the control mode is switched; an exoskeleton position control method based on a state machine is designed; a trail is output; a paralyzed patient wears the walk-help exoskeleton, the exoskeleton actively drives the patient to move according to the referred joint trail, and meanwhile reoccurring of lower limb joint motion of the patient in different states is realized through state switching of the state machine. By the utilization of the reoccurring method, gaits are more natural and comfortable, and the process of motion reoccurring is simple. The naturality and comfort of joint motion of the wearable walk-help exoskeleton are poor, and adaptability to joint motion of the patient is good.

Description

technical field [0001] The invention relates to two methods for reproducing joint motion of lower limbs, in particular to two methods for reproducing joint motion of lower limbs using a wearable walking aid exoskeleton. The invention belongs to the field of exoskeleton joint motion control. Background technique [0002] There are tens of millions of patients with loss of lower limb function such as paraplegia or hemiplegia due to stroke, cerebral apoplexy, spinal cord injury, bone trauma and other reasons in China. At the same time, there is a growing number of elderly people with weakened lower limb function. For these two groups of people, wearable walking aid exoskeleton has great expectations for its good anthropomorphic and human-computer interaction characteristics. At present, a small-scale clinical test has begun, and the prospect is very broad. [0003] The basic working principle of the wearable walking aid exoskeleton is to drive the patient's joints to move pass...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of naturalness and poor comfort of the joint motion of the existing wearable walking aid exoskeleton, poor adaptability of the patient's joint motion, and the large workload of later correction and optimization, and further provides a wearable walking aid Motion reproduction method of lower extremity joints with exoskeleton

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