Multi-phase gait switching control system and control method for power-assisted exoskeleton robot

Abstract

The invention discloses a multi-phase gait switching control system and control method for a power-assisted exoskeleton robot. The multi-phase gait switching control system is characterized in that the multi-phase gait switching control system includes a sensor module, a signal acquisition and processing module, a gait switching motion control module and a motor driving module; and sensors comprise inertial measurement units, plantar pressure sensors and motor encoders. With the multi-phase gait switching control system and control method for the power-assisted exoskeleton robot of the invention adopted, the output of lower hip joint and knee-joint motor power-assisted torque under various of phase gaits and smooth switching between the phase gaits can be planned under a condition that the exoskeleton robot bears a heavy object, and the coordination and flexibility of the movement of the limbs of the weight-bearing exoskeleton equipment can be realized.

Description

technical field [0001] The invention belongs to the field of robots, and specifically relates to a multi-phase gait switching control system and a control method for an assisting exoskeleton robot. Background technique [0002] The power-assisted exoskeleton robot is a wearable lower limb walking bionic mechanical leg. It is human-centered, collects the trend of human movement through sensors, and assists the joints in the same gait direction as the human in terms of assistance, assisting people to walk under load. Ability and speed; Traditional power-assisted exoskeleton robots have defects in the coordination of mechanical structure and human body movement and the flexibility of movement under the condition of heavy loads. [0003] Chinese Patent Publication No. CN103315834B invented a wearable lower limb power-assisted exoskeleton. It controls the motor through a bionic intelligent control program to realize the walking gait of the wearable lower limb power-assisted exosk...

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Problems solved by technology

[0003] Chinese Patent Publication No. CN103315834B invented a wearable lower limb power-assisted exoskeleton. It controls the motor through a bionic intelligent control program to realize the walking gait of the wearable lower limb power-assisted exoskeleton. This invention is used in the field of lower limb power-assisted and lower limb rehabilitation, but the patent It does not describe the part of keeping walking or making emergency treatment in some complex emergencies. Therefore, the device cannot meet the gait coordination control situation under heavy load.

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