Gait Parameters Acquisition And Planning Control Of Lower Extremity Rehabilitation Exoskeleton Based On Permanent Magnet Positioning Technology

Lower extremity rehabilitation exoskeleton is a new type of rehabilitation equipment for patients with lower extremity dysfunction.The current domestic research in this area is still in its infancy.Before the lower extremity training exoskeleton exercise control,generally need to collect and plan gait parameters,the current domestic and foreign methods commonly used computer vision,they all have the disadvantages such as high equipment costs,high requirements for the testing environment and the detection parameters are single.Also they are separate from the exoskeleton and there will be problems such as line of sight occlusion during exoskeleton operation.In view of the shortcomings of the gait data acquisition and planning of the exoskeleton at home and abroad,we have studied a system of gait parameters acquisition and planning control of the exoskeleton of lower limb rehabilitation training based on magnetic positioning technology.First,according to the three principles of safety,flexibility and portability,we designed and manufactured the exoskeleton mechanism for lower limb rehabilitation training.Secondly,we proposed a gait parameter acquisition and gait planning method based on magnetic location technology.We have designed the analog signal conditioning circuit,and used the analog digital conversion circuit to amplify and filter the signals which detected by the magnetic sensor.The magnetic dipole model is established,and the location of themagnetic sensor to the space permanent magnet is completed.According to the coordinate transformation,the angle data of the lower limb joints are obtained,and the multi point positioning control instruction parameters of the displacement,velocity and acceleration are obtained by the gait planning.We have designed the construction of the exoskeleton control system completely.The computer interface of the upper computer is developed through Labview.Through the positioning method of the multi point position of the motor controller,the rapid response and precise control of the exoskeleton are realized.Finally,a series of tests were carried out on the whole exoskeleton,including the error experiment of gait parameter acquisition and exoskeleton operation experiment.The experimental results show that the gait parameter planning method based on the permanent magnet positioning technology studied in this paper is feasible.After the control parameters obtained by this method are input into the controller,the exoskeleton operation is continuous and stable,but the state parameters collected during the operation have a certain delay in time with the planning goals.