Flexible exoskeleton robot control method and system based on muscle coordination theory

Abstract

The invention provides a flexible exoskeleton robot control method and system based on a muscle coordination theory. The method comprises the steps that 1, a human body lower limb simplified skeletonmuscle model is established; 2, a human body lower limb movement muscle activation element is determined based on the muscle coordination theory; 3, a mathematical mapping model of lower limb movementmuscle activation intensity is established based on the lower limb simplified skeleton muscle model and the human body lower limb movement muscle activation element; and 4, a proportional differential controller is designed according to the mathematical mapping model. According to the method and system, an actual movement mode of human beings is simulated, and the skeleton muscle model and a muscle coordination model are established, so that the movement of the lower limb exoskeleton better conforms to the actual movement of human beings; and the control scheme is small in calculation amount,low in requirement for hardware, stable and reliable.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for controlling a flexible exoskeleton robot based on the theory of muscle synergy. Background technique [0002] Exoskeleton robot is an intelligent device that can assist people to complete various movements such as walking, sitting, squatting and standing. It has been widely used in military, medical and other fields. [0003] However, most of the existing exoskeleton robots are rigid exoskeletons. It adopts a hard shell and provides a certain amount of assistance to the wearer through a mechanized structure, but more than 95% of the rigid exoskeleton system will cause the wearer to consume a lot of physical energy because it is too bulky. This does not mean that the exoskeleton system does not improve wearability. Due to the uncoordinated human-computer interaction, the exoskeleton will cause greater resistance to the expected movement of the human ...

AI Technical Summary

Problems solved by technology

They can only complete the basic control of rigid exoskeletons through the combination of predefined motion trajectories and dynamic models. They are not suitable for flexible exoskeleton systems with more complex dynamics. There are problems such as slow response time and inaccurate recognition of human intentions. Difficult to achieve the state of man-machine coordinated movement

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