Method for judging lower-limb movement intentions of exoskeleton walking aid robot wearer

Abstract

The invention provides a method for judging the lower-limb movement intentions of an exoskeleton walking aid robot wearer. Aiming at the deficiency of a human movement following control mode or a hand operation mode adopted by the conventional exoskeleton robot, the method judges the lower-body movement intentions of the wearer according to the unconscious shoulder movements and the habitual action of looking of the wearer. The method can be used for controlling an exoskeleton robot with a self-balancing function to help the wearer accomplish common lower-lime movements such as taking steps, turning, getting over obstacles, standing up and sitting down. The method frees the wearer from doing actual low-limb movements before the robot, thus avoiding extra physical exertion caused by man-robot interaction. The method also frees the wearer from learning special exoskeleton robot operating skills, is suitable for old persons with week strength and reduces the burden in learning exoskeleton robot using skills.

Description

technical field [0001] The invention relates to a wearable lower limb exoskeleton robot, in particular to a method for judging the lower limb action intention of the wearer of the exoskeleton walking aid robot. Background technique [0002] Human beings are always unable to avoid aging. Physical aging and mental aging process at different speeds but influence each other. For many elderly people, after physical strength, especially the aging of the lower limbs, the range of activities is limited, there are fewer social activities, and the living environment is closed, which in turn accelerates the aging process of the brain, forming a vicious circle. With the deepening of population aging, the young labor force will only bear more and more responsibilities for social production, and the amount of nursing services received by the elderly is very likely to show a gradual reduction trend. The use of technology to increase the mobility of the elderly themselves can be regarded a...

AI Technical Summary

Problems solved by technology

Considering that the ability of the elderly to learn new things cannot be compared with when they were young, and there are problems such as learning difficulties, forgetting and confusing operation actions, this method is not very suitable for them.

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