Research On Perception And Control Method Of Wearable Assistant Robot Based On Information Of Human Body

Wearable assistant robot is an interactive robot system, which is worn on the user’s body. Through the external control device or automatic controller, user transmits control command to the wearable assistant robot and the wearable assistant robot provides the energy and power by which the user can execute more than he can do. Wearable assistant robot not only protects the user’s body and supports the structure of the human body, but also greatly enhances the physical strength, speed and endurance of the user.The biggest characteristic of normal human natural walking is the certain periodicity. User transmits control command to the wearable assistant robot through the automatic controller, and the first step for the wearable assistant robot is the automatic controller to perceive human motion information, recognize human gait phase of each cycle and analyse human motion intention. In a human natural walking cycle, the contact between foot and the ground, and knee joint angle change as gait changes, and present a certain periodicity and a matching relationship.In this paper I designed a device to perceive and collect plantar pressure and knee joint angle information while a human walk. After perceiving and collecting the plantar pressure and knee joint angle information of normal human natural walking through perceiving and collecting experiments, I compared and analysised the collected data, recognized gait cycle, and studied the characteristics and the relationship of the plantar pressure and knee joint angle of normal human natural walking. Thus provided the basis for the control strategy of the control system, so as to better walking planning of wearable assistant robot, enhance the coordination between walking robot and human body.