Gait control method and control system of lower limb power-assisting exoskeleton robot

Abstract

The invention provides a gait control method, comprising: providing gait model and reference information; collecting original gait information and judging gait type according to the gait model; collecting the state information of the booster module and converting the state information into the parameter information; invoking the reference information and the parameter information to compare according to the gait type; and sending an adjustment instruction to the booster module so that the parameter information conforms to the reference information. The gait model of the gait control method ofthe present invention includes a foot-flattening model, heel off-ground model and toe off-ground model, at the stage when the wearer needs power assistance or adjustment, the comparison basis is provided, and the reference information is combined to enable the gait control method to realize the control of the power assistance module without re-determining the gait period, thereby avoiding the problem of tracking speed and precision degradation caused by continuously re-determining the gait period. The invention also provides a gait control system for realizing the gait control method.

Description

Technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a gait control method and a control system for a lower limb assisted exoskeleton robot. Background technique [0002] The lower limb assisted exoskeleton robot is a wearable assist device that can be organically integrated with the user to help people with motor dysfunction in their lower limbs recover their walking ability. The human-machine interface is a way to realize the communication between the human and the lower extremity assisted exoskeleton robot, and its function is to analyze and predict the gait data of the human body. Since gait is a continuous periodic movement, including many complex physiological information, gait analysis aims to detect and analyze the movement trajectory, contact force information, electromyographic signal and other physiological parameters in this process. The upper position of the exoskeleton The machine sends the control signals gene...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a gait control method for a lower-limb assisted exoskeleton robot. It does not need to re-determine the gait cycle, but can send adjustment instructions by referring to the pre-stored gait model and related data groups, avoiding the existing Problems with the technology that reduce tracking speed and accuracy due to constant re-determining of the gait cycle

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