Design And Implement Of The Software System For Lower Limb Exoskeleton Robot Base On Sensors

The lower limb external skeletal mechanical leg is an extension of the robot technology in the medical field.It is designed to help the lower limb paralyzed patients for rehabilitation training and the final purpose is to be a high-tech equipment which can help paralysis patients to be able to live independently.Its appearancemakes the development of the process of rehabilitation of the lower limb paralyzed patientstowards the scientific,procedural and simple direction and the mild paralyzed patients’ rehabilitation possible.If only a variety of hardware components composed of exoskeleton mechanical legs,lack of the corresponding software system support,it will be difficult to play the function of hardware devices,therefore,the development of software systems is an important part of exoskeleton mechanical legs.Under the Linux operating system,this paper use C language to design and implement a exoskeleton mechanical leg software system with a prototype of limited state machine,which includes a set of basic functions.This paper first analyzes the history of the external leg of the lower limbs’ development,studies the status quo at home and abroad,and analyzes the gait technology of the mechanical legs,and paves the way for the design and implementation of the whole system.Secondly,this paper introduces a mechanical structure of the exoskeleton mechanical leg which fully fits the human body structure.On this hardware device,the sensor network including the pressure sensor,the inclination sensor and the photoelectric sensor needed for the system is designed.We also design a wireless watch for Human-computer interaction.Then,in order to make the implementation of the wearable device more realistic human gait,this paper uses a predetermined gait control method,getting the curve of standing,walking and sitting and other movements through the normal people wearing exoskeleton mechanical leg equipment with the use of crutches assisted,and vice versa in the software to restore the curve,so as possible to achieve anthropomorphic design to ensure that the design of exoskeleton mechanical legs more reasonable,to enhance the user’s comfortable experience.In addition,according to the "foot touchdown" problem occurs when actual testing,this paper presents asolution through geometric calculation.Combined with the aforementioned gait curve,this paper completes the lower extremity exoskeleton mechanical leg standing,walking and sit down and other actions.Finally,this paper carries out the actual normal wear test,the actual test results show that the curve of the motor movements compared to the existing gait curve is more smooth.In addition,patients with paraplegia in rehabilitation hospitals were invited to wear tests to verify the feasibility of the entire software system.