Coordinated gait control method for exoskeleton based on the coordination characteristics of human gait movement

Abstract

The invention belongs to the field of medical apparatus, and discloses an exoskeleton coordinated gait control method based on human gait movement coordination characteristics. The exoskeleton coordinated gait control method includes the steps that (a) for a lower limb exoskeleton to be controlled, the respective joint angle and angular velocity of a hip joint and a knee joint of the lower limb exoskeleton are detected in real time, detection results are compared with predetermined swing phase switching conditions, and a first state satisfying the swing phase switching conditions is taken as astarting point of a swing phase; (b) an ideal coordinated movement curve between the angles of the hip joint and the knee joint under the swinging phase is constructed; and (c) an angle theta of thehip joint and the knee joint of the lower limb exoskeleton to be controlled is monitored in real time at each moment after entering into the swing phase, the theta is compared with the ideal coordinated movement curve, when the acceptable conditions are not met, the lower limb exoskeleton applies torque on a man-machine system, and in this way, control of coordinated gait of the lower limb exoskeleton is realized; and through the exoskeleton coordinated gait control method, the control of the coordinated gait of the walking exoskeleton is realized, and at the same time movement autonomy of a user is maintained.

Description

technical field [0001] The invention belongs to the field of medical equipment, and more specifically relates to an exoskeleton coordinated gait control method based on human gait movement coordination characteristics. Background technique [0002] Due to the aging of the population and the increase in the proportion of pathological (stroke, spinal cord injury, etc.), the gradual decline or impairment of the motor function of the lower limbs of the people has become a livelihood problem faced by the whole society. The unique potential has attracted people's attention. The control strategy plays a vital role in the practical application of the lower extremity walking exoskeleton. For complete paraplegic patients, the commonly used control method is the control strategy based on the preset trajectory. This method has been proven to be effective and is mostly used in commercial exoskeleton control, however, for patients with incomplete paraplegia, such as stroke hemiplegia, in...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides an exoskeleton coordinated gait control method based on the coordination characteristics of human gait movement. By constructing an ideal ellipse coordinated motion curve in the swing phase, the user can The swing phase can move along the desired ideal coordination curve while maintaining the user's movement autonomy, thereby realizing the natural assistance of the lower limb exoskeleton, thereby solving the technical problem of poor coordination of lower limb movement

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