Motion control method of lower limb joints based on wearable walking aid exoskeleton

Abstract

The lower limb joint motion control method based on the wearable walking aid exoskeleton belongs to the field of exoskeleton joint motion control. The lower limb joint motion reproduction method based on the wearable walking aid exoskeleton is specifically torque compensation: the exoskeleton is in the torque control mode; information Acquisition: The exoskeleton driver collects the joint motion data of typical actions of healthy people, and after the data is processed, the joint motion data reference of each typical action is obtained; control mode conversion: design the exoskeleton position control method based on the state machine; Trajectory output: Paraplegic patients wear a walking exoskeleton, and the exoskeleton actively drives the patient to move according to the reference joint trajectory. At the same time, the patient's lower limb joint movement can be reproduced in different states through the state switching of the state machine. The gait realized by the invention is more natural and comfortable, and the motion reproduction process of the invention is simple. The naturalness and comfort of the joint movement of the wearable exoskeleton are poor, and the adaptability of the joint movement of the patient is good.

Description

technical field [0001] The invention relates to two lower limb joint motion control methods, in particular to two lower limb joint motion control methods using a wearable walking aid exoskeleton. The invention belongs to the field of exoskeleton joint motion control. Background technique [0002] There are tens of millions of patients with loss of lower limb function such as paraplegia or hemiplegia due to stroke, cerebral apoplexy, spinal cord injury, bone trauma and other reasons in China. At the same time, there is a growing number of elderly people with weakened lower limb function. For these two groups of people, wearable walking aid exoskeleton has great expectations for its good anthropomorphic and human-computer interaction characteristics. At present, a small-scale clinical test has begun, and the prospect is very broad. [0003] The basic working principle of the wearable walking aid exoskeleton is to drive the patient's joints to move passively by driving its act...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of naturalness and poor comfort of the joint motion of the existing wearable walking aid exoskeleton, poor adaptability of the patient's joint motion, and the large workload of later correction and optimization, and further provides a wearable walking aid Movement control method for lower limb joints of exoskeleton

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