Motion intention recognition device for lower extremity exoskeletons and method thereof
A technology for motion intentions and recognition devices, applied in applications, medical science, manipulators, etc., can solve problems such as increased cost, large size, and complex recognition models
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[0079] The specific embodiments of the present invention will be described in further detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.
[0080] The lower limbs help the exoskeleton system such as figure 1 Shown, including exoskeleton bionic mechanism system, perception system, control system, power supply system and drive system. Among them, the bionic mechanism system includes bionic lower limb structure, bionic upper limb structure, and bionic back support; the sensing system includes plantar pressure signal, leg EMG signal, joint posture signal acquisition and movement intention recognition; control system includes motion planning algorithm, balance Control algorithm, servo control algorithm; power system includes power management system and energy interface; servo system includes servo motor and servo drive.
[0081] This embodiment provides ...
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