The invention relates to the technical field of wearable
exoskeleton assistance, in particular to a
lower limb exoskeleton knee joint assistance control method and
system. The
lower limb exoskeleton comprises a pair of swing arms respectively connected with thighs and shanks and an
actuator, and the method comprises the following steps:
processing data of a
motion parameter sensor, acquiring detection
data input by the
motion parameter sensor arranged on the
lower limb exoskeleton, and
processing the detection data to extract motion features;
gait phase detection is conducted, the current
gait phase is determined according to the motion characteristics, the
gait phase comprises a supporting phase and a swinging phase, the supporting phase corresponds to the state that the lower limb touches the ground, and the swinging phase corresponds to the state that the lower limb leaves the ground; activity identification: motion features are extracted in the supporting phase to determine activity types, and the activity types comprise at least one of flat walking, upward walking, downward walking, running, squatting,
backward walking and unknown; according to the control strategy, the corresponding control strategy is selected according to the
gait phase and the activity type so as to control an
actuator.