Lower limb power-assisted exoskeleton robot gait pattern identification method and system

Abstract

The invention provides a lower limb power-assisted exoskeleton robot gait pattern identification method and system. The method comprises the steps that a pressure sensing device embedded into a shoe sole of a lower limb power-assisted exoskeleton robot is used for detecting shoe sole pressure information of a wearer, the obtained shoe sole pressure information is compared and matched with walking modes in a human body gait database, a walking mode is obtained through judgment, movement phases in a gait period are identified, and a movement phase is obtained through judgment; data are processed and analyzed, results obtained after identification and matching are transmitted to a lower limb power-assisted exoskeleton robot control system to be used as a control basis. The walking mode and the detailed movement phase in each gait period of the lower limb power-assisted exoskeleton wearer provide the abundant decision basis for control over the lower limb power-assisted exoskeleton. The lower limb power-assisted exoskeleton robot gait pattern identification method and system not only can provide movement information of the wearer for the lower limb power-assisted exoskeleton, but also can be widely applied to human body gait identification.

Description

technical field [0001] The invention relates to a gait pattern recognition method and system for a lower limb assisted exoskeleton robot based on a plantar force measurement detection system. Background technique [0002] The lower limb assisted exoskeleton robot combines the advantages of humans and robots, and combines humans and robots into one system to give full play to the human's action-oriented ability and the robot's ability to bear loads. This lower limb power-assisted exoskeleton mechanism can be worn by the wearer, and maintains the same walking movement as the wearer at all times. Like the human exoskeleton, it replaces the human body to bear the external load, so as to achieve the purpose of walking assistance. [0003] In order to alleviate the problem of lower limb injuries caused by heavy loads and long-distance walking; the social problems caused by the aging population; and the lower limb disabilities caused by traffic, earthquake disasters, etc.; It ...

AI Technical Summary

Problems solved by technology

[0005] At present, the acquisition of the wearer's movement intention is the detection of EMG and EEG signals. Due to the weak and unstable signals of EMG and EEG signals, the acquisition, processing and analysis of the signals are very complicated.

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