Configuration Design Of Exoskeleton Robot And Gait Planning Of Static Stable Walking

Exoskeleton walking robot is a wearable mechanical device which can protect the operator, support the body and help the operator to walk. Its main usage has two categories. The first class can help old people to walk and do rehabilitation training for lower limb paralysis. The second class can provide extra strength for ordinary people such as individual combat soldiers, scientific research personnel to help them finish the work better. The wearable lower-limp walking-added exoskeleton robot will have a potential application for auxiliary medical equipment, man-military combat equipment, heavy manual work, and environment-friendly transport device.The traffic accidents increased significantly with the development of economy. The number of physical injury and nerve injury has been showing a rising trend caused by the traffic accidents. At the same time, with the progress of medical technology, the increase of the life quality and the decline in the birth rate, aging population increases year by year. Paralysis of the lower limbs’ and walking inconvenience elderly peoples’ requirement for walking normally and improve the ability of independent living are gradually increasing. Aiming at this requirement, we studied the exoskeleton robot that can assist the elderly walking and help lower limb paralysis to finish rehabilitation training. This research is supported by the National Natural Science Fund of "The research of soft connection of human and exoskeleton robot," the main contents are as follows:(1) Configuration design and kinematic analysis of an exoskeleton robot. Based on the analysis of lower extremity biological skeleton model of human walking, designed a kind of 8 freedom degree exoskeleton robot with processing and assembling according to the distribution of the freedom and angle range of the joint. Then the analysis of kinematics was carried on to solve the relationship between the joint angle and center of gravity of trajectory.(2) Gait planning. On the theory of focus projection method, proposed a gait planning method for the statically stable walking of the robot based on the gravity center track. In addition, puts forward the index of the stability margin-stability evaluation, when the robot walking. Draw the joint trajectory and verify the stability margin through MATLAB simulation in order to realize the static walking of the exoskeleton robot.(3) Experimental verification. In order to verify the correctness of the gait planning, an experimental study was conducted. The experiment platform includes the hardware system and software system. Then a calculation method of center track based on the information of plantar pressure was presented. The legs hanging experiment was been done first to verify the feasibility of the gait planning. Then the experiments without the load was been done to verify the correctness of the planning walking gait trajectory. Finally the walking experiment with the load was been done in the flat ground to validate the calculation method of plantar pressure information based on the center of gravity and confirm whether the actual calculation of the stability margin can satisfy the robot walking stability.