Exoskeleton mixed control system and method for lower limb walking assisting machine

Abstract

The invention provides an exoskeleton mixed control system and method for a lower limb walking assisting machine. The system comprises a track generation module and the like. A master controller module comprises a high impedance controller module and a self-adaptation control module. The track generation module generates lower limb exoskeleton joint track information and guides the lower limb exoskeleton joint track information into the master controller module. A position and speed feedback module collects position and speed information of joints of exoskeletons and feeds back the position and speed information to the master controller module. An FSR circuit module detects the contact force information of soles and the ground through FSR pressure sensors installed at the soles of the exoskeletons and sends the information to a controller decision module in the form of voltage. The controller decision module judges whether the leg swinging period exists or the standing period exists according to the voltage information and sends the judgment result to a 51 single chip microcomputer module. The exoskeleton mixed control system and method are feasible, and the control effect and user experience of the machine exoskeleton system can be improved through mixed bottom layer controllers.

Description

technical field [0001] The invention relates to a walking aid robot control system and method, in particular to an exoskeleton hybrid control system and method for a lower limb walking aid machine. Background technique [0002] At present, the lower extremity robotic exoskeleton can be used not only for rehabilitation training of paralyzed patients, but also as a walking aid for normal subjects to enhance exercise and load capacity. For example, Locomat of Swiss HOCOMA Company and ReWalk of Japan Yaskawa Company. The motors at the joints of the exoskeleton of the lower extremity robot provide the subjects with a large auxiliary torque to coordinate the movement of each joint. However, most exoskeleton controllers for lower extremity machines have a single mode, and the human-computer interaction experience is poor. [0003] After literature search, it is found that there is an existing patent similar to the present invention, Chinese Patent Publication No. CN104797385A, th...

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Problems solved by technology

This patent differs from the present invention in the following points: 1. Servo technology is not fully utilized; 2. System parameters are not identified to improve the learning effect; 3. High-impedance controllers are not used for different biomechanical tasks. adapt controller

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