Control method of lower limb walking-aid exoskeleton robot and exoskeleton robot

Abstract

The invention provides a control method for a lower limb walking-aid exoskeleton robot and the exoskeleton robot, and the control method comprises the steps: detecting the angle of a leg joint; detecting the position of the mass center of the whole exoskeleton robot and a user; detecting the pressure of the foot sole in the walking process, wherein the pressure comprises a first pressure F1 borneby the foot sole of the right leg and a second pressure F2 borne by the foot sole of the left leg; and when the position of the mass center, the angle of the leg joint and the pressure of the sole meet preset conditions, the lower limb walking-aid exoskeleton robot is controlled to switch gait phases according to a preset gait phase sequence. According to the walking-aid exoskeleton robot, by detecting the leg joint angle and changing the posture of the human body, the walking-aid exoskeleton robot can drive the legs according to the specific movement condition of the user, the accurate gait switching is achieved, and the fitness of the walking-aid exoskeleton robot to the human body and the movement flexibility of a wearer are improved.

Description

technical field [0001] The invention belongs to the field of exoskeleton robots, and in particular relates to a control method and the exoskeleton robot for lower limb walking assistance exoskeleton robots. Background technique [0002] The lower limb assisted exoskeleton robot is a new type of wearable smart device, which integrates the "physical strength" of the mechanical system and the "intelligence" of human beings into one system, and the mechanical system becomes a part of the human body, so that the wearer can complete Improve the human body's exercise capacity and weight-bearing capacity for tasks that cannot be completed by the human body's own conditions. [0003] Existing lower-limb assisted exoskeleton robots generally can only control the walking and pausing of the exoskeleton, and do not process the intermediate phase during the walking process, and do not adjust and switch the walking state according to real-time conditions such as environmental interaction, ...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a control method and an exoskeleton robot for the lower limb walking aid exoskeleton robot, aiming to solve the problem that the existing exoskeleton robot does not process the intermediate phase in the walking process, and does not interact with the environment, The technical problem that it is easy to fall when wearing and walking

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