Control method and system for flexible exoskeleton robot based on muscle synergy theory

Abstract

The present invention provides a flexible exoskeleton robot control method and system based on muscle synergy theory, comprising: step 1: establishing a simplified skeletal muscle model of human lower limbs; step 2: determining human lower limb exercise muscle activation primitives based on muscle synergy theory; step 3: Based on the simplified skeletal muscle model of the lower limbs and the activation primitives of the lower limbs, the mathematical mapping model of the activation intensity of the lower limbs is established; Step 4: Design a proportional-derivative controller according to the mathematical mapping model. The invention imitates the actual movement pattern of human beings, and establishes a skeletal muscle model and a muscle coordination model, so that the movement of the exoskeleton of the lower limbs is more consistent with the actual movement of human beings; the control scheme of the present invention has a small amount of calculation, low requirements on hardware, and is stable and reliable.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for controlling a flexible exoskeleton robot based on the theory of muscle synergy. Background technique [0002] Exoskeleton robot is an intelligent device that can assist people to complete various movements such as walking, sitting, squatting and standing. It has been widely used in military, medical and other fields. [0003] However, most of the existing exoskeleton robots are rigid exoskeletons. It adopts a hard shell and provides a certain amount of assistance to the wearer through a mechanized structure, but more than 95% of the rigid exoskeleton system will cause the wearer to consume a lot of physical energy because it is too bulky. This does not mean that the exoskeleton system does not improve wearability. Due to the uncoordinated human-computer interaction, the exoskeleton will cause greater resistance to the expected movement of the human ...

AI Technical Summary

Problems solved by technology

They can only complete the basic control of rigid exoskeletons through the combination of predefined motion trajectories and dynamic models. They are not suitable for flexible exoskeleton systems with more complex dynamics. There are problems such as slow response time and inaccurate recognition of human intentions. Difficult to achieve the state of man-machine coordinated movement

Images