Improvement Of The Construction And Study On Control Tactic Of Assistive Robot

The research of assistive robot system is a very important part of mechatronics technology and robot science. As other robot system, assistive robot system is an integrity of many subjects and technology. Now normal walking robot can do some basic human gait, but they were not good at speed and precision, so with the development of biomedicine field and intelligent artificial limb, we introduced assistive robot. With the cooperation of both human and mechanical leg we can make the system have the advantage of the human's balance, harmonious and also have the driving ability of mechanical leg.On the basis of previous research, this paper study on the assistive robot deeply. Main work and conclusions as follows:For the mechanical structure, we improve the construction. It including that fine-tuning the assembly structure, design the limit structure, design the soles of the feet plate, improve the DOF. It can make people comfort and convenience.For the signal acquisition, we use the encoder. We collected the angle signal by manufacturing production laboratory Motion Control System. It offer accurate data for data-processing sectors.For the control tactic, we study on assistive robot control tactic with ANFIS and gait compensation theory method. Pressure signals and angle signal have a fuzzy relationshipThe ultimate goal of this project is to provide an insight into the methodology of developing a practical wearable exoskeleton device, which could provide soldier, fire fighters, disaster relief workers, and other emergency personnel the ability to carry major loads such as food, weaponry, rescue equipment, and communications gear with minimal effort over any type of terrain for extended periods of time.