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Gait control method, device and equipment for lower limb wearable robot

A gait control, wearable technology, applied in the field of robotics, can solve the problem of high cost, achieve the effect of low cost and simple control method

Inactive Publication Date: 2020-08-25
SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing gait recognition and control are mainly based on muscle electrical signals, and the cost is relatively high

Method used

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  • Gait control method, device and equipment for lower limb wearable robot
  • Gait control method, device and equipment for lower limb wearable robot
  • Gait control method, device and equipment for lower limb wearable robot

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Embodiment Construction

[0030] The conception and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments, so as to fully understand the purpose, features and effects of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts belong to The protection scope of the present invention.

[0031] In the description of the present invention, if it involves orientation description, for example, the orientation or positional relationship indicated by "upper", "lower", "front", "back", "left", "right" etc. is based on the The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred ...

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Abstract

The invention discloses gait control method, device and equipment for a lower limb wearable robot. The method comprises the steps of obtaining ground interaction force information and joint angle information of the lower limb wearable robot; judging a next gait phase according to the ground interaction force information and the joint angle position information; and substituting a joint angle intoa joint torque model corresponding to the next gait phase to calculate a joint control signal, and performing torque control on the lower limb wearable robot. The next gait phase is judged according to the ground interaction force information and the joint angle information of the lower limb wearable robot, the ground interaction force information and the joint angle information can be collected through a sensor, the cost is low, control signals are calculated according to joint torque models corresponding to different gait phases, and the control method is simple.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method, device and equipment for controlling the gait of a lower limb wearable robot. Background technique [0002] At present, with the development of robot technology, intelligent lower limb wearable robots including wearable exoskeleton and artificial limbs have been developed rapidly. The gait recognition and control of the lower limb wearable robot is one of the key issues for the practical application of the lower limb wearable robot. The existing gait recognition and control are mainly based on muscle electrical signals, and the cost is relatively high. Contents of the invention [0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a gait control method of a lower limb wearable robot, which can reduce the hardware cost required for gait recognition. [0004] The invention also pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2201/0157A61H2201/1207A61H2201/5007A61H2230/625A61H2230/605
Inventor 付成龙张稳肖文涛冷雨泉
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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