The invention discloses a lower-limb
exoskeleton training method and a lower-limb
exoskeleton training
system triggered by a brain-computer interface under the motion imagination pattern. The lower-limb
exoskeleton training method comprises the following steps: measuring an electrocerebral sample
signal of a user according to a preset motion imagination task; carrying out
signal preprocessing to eliminate
signal noises; carrying out signal conversion by using a
common spatial pattern, and extracting and selecting features; establishing an electrocerebral signal classifier template of a user by utilizing the converted signal; and when the user wants to make movement, after the pretreatment in the step 2 and the conversion through the
common spatial pattern in the step 3, inputting the real-time motion imagination electrocerebral signal of the user into the electrocerebral signal classifier template obtained in the step 4, deciding the type of the motion imagination electrocerebral signal of the user, and outputting a
classification result to a lower-limb exoskeleton controller, so that the lower-limb exoskeleton controller controls the motion movements. With the adoption of the method and the
system provided by the invention, the defects that the existing control method is unnatural and limited, and is complicated in design and inconvenient to use are overcome, so that the lower-limb exoskeleton
system has strong
adaptive capacity and strong control flexibility, and the applicable group is expanded.