Motion control method suitable for exoskeleton robots

Abstract

The invention provides a motion control method suitable for exoskeleton robots. By establishing a seven-link kinematics model, collecting exoskeleton-wearer system motion information based on a multi-sensor system, calculating the wearer's ground pressure center position, and designing an exoskeleton walking finite state machine, the wearer's walking motion intention and the state transitions in the walking finite state machine can be quickly, accurately and automatically recognized, effective and smooth motion assistance for paralyzed patients who have no perception and strength of the lowerlimbs is realized, the walking intention of the exoskeleton robot is automatically recognized and controlled, and the convenience and intelligence of using the exoskeleton robots are improved. At thesame time, by calculating the distance between the ankle joint of the front leg and the location of the crutches after the exoskeleton-wearer system moves forward with both crutches during the leg support period, the step length of the wearer under different walking conditions is determined, the exoskeleton joint motion reference trajectory is updated in real time, and real-time adjustment and control of the wearer's walking step length is realized.

Description

technical field [0001] The invention relates to the technical field of lower extremity exoskeleton robots, in particular to a motion control method suitable for exoskeleton robots. Background technique [0002] An exoskeleton robot is a wearable mechatronic device that can be worn on the operator's limbs to provide the operator with functions such as protection, body support, rehabilitation training, and sports assistance. After wearing the exoskeleton, paralyzed patients can achieve the same actions as normal people, such as standing up / sitting down, walking, going up and down stairs, etc. under the support of the exoskeleton and its power drive, which can greatly improve their quality of life and enjoyment. Exoskeleton technology combines robotic technologies such as sensing, control, information fusion, and mobile computing, and combines human intelligence with the "physical strength" of robots. The exoskeleton robot designed for paralyzed patients combines biomechanics,...

AI Technical Summary

Problems solved by technology

However, most of the existing exoskeleton robots use the method of tracking fixed joint motion reference trajectories. In the process of assisting the patient's movement, the exoskeleton robot cannot adjust the movement in real time according to the wearer's movement status, and the adaptability is not good, and the movement mode is single.

Some exoskeleton robots can adjust the reference trajectory in real time according to the stability of the exoskeleton-wearer system. However, they cannot automatically obtain the wearer's motion intention quickly and accurately, nor can they adjust the step size in real time according to the wearer's motion status.

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