Lower limb exoskeleton robot control system based on divergent motion component

Abstract

The invention provides a lower limb exoskeleton robot control system based on divergent motion components. The lower limb exoskeleton robot control system comprises a reference trajectory planner and a linear quadratic Gaussian controller. The reference trajectory planner obtains actual parameters of the lower limb exoskeleton robot through the footstep planner, then a zero momentum point planner is utilized to generate a zero momentum point trajectory according to steps, then a centroid trajectory is calculated based on a linear inverted pendulum model, and finally divergent motion components in centroid motion are controlled based on a divergent motion component theory. Obtaining a reference track of feedforward walking of the robot; the linear quadratic Gaussian controller is based on the divergent motion component, realizes the stable tracking of the reference trajectory under the uncertain condition, and also has robustness under the condition that process interference and measurement noise exist. According to the reference trajectory planner based on the divergent motion component, the divergent motion component planner is introduced on the basis of the centroid planner, motion decoupling of the sagittal plane and the coronal plane is achieved, and the complexity of step planning is simplified.

Description

technical field [0001] The invention relates to the field of medical instruments and rehabilitation aids, in particular to a lower limb exoskeleton robot control system based on divergent motion components. Background technique [0002] The walking performance of lower-limb exoskeleton robots has been greatly improved, but it is still far from expectations. While many lower-extremity exoskeleton robots are able to walk on flat terrain (or uneven terrain with known geometry), only a few are able to compensate for severe disturbances or walk on rough terrain. Lower-extremity exoskeleton robots have a unique property that is kinematically and kinetically similar to humans. According to this property, they are able to adapt to our everyday environment as human beings expect them to be able to get out of the laboratory, complete everyday tasks, and collaborate with them precisely and safely. A key requirement for lower-extremity exoskeleton robots working in dynamic environment...

AI Technical Summary

Problems solved by technology

[0004] Patent document CN110286679A discloses a robot gait planning method based on a linear inverted pendulum model, specifically based on a linear inverted pendulum model to generate zero-moment point trajectory, torso mass center movement trajectory and swimming foot planning trajectory, and solve it by inverse kinematics The gait motion curve of each joint is more in line with the actual mass distribution of humanoid robots, but it still lacks precise control of the divergent components in motion, and it is difficult to achieve the desired effect in practical applications

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