The Research Of Exoskeleton Human-Robot Coordination Control System

Since 2000, because of the ageing of population and the increasing of the casualties caused by traffic accidents and natural disasters, research on helping the aged and the injured to regain their walking ability is urgently required. This project developes a coordination control system for an exoskeleton suit which takes full advantage of the steer ability of human and the load ability of the robot to achieve the goal of assistance. The system is composed of the hip-joint walking assistance exoskeleton suit, the coordination control algorithm and the software-hardware platform.Firstly, according to the design request of the project, the characteristics of the human gait and the physiological characteristics of the hip-joint, the exoskeleton suit which can help the disabled regain their coordinated walking ability is designed. The kinetic characteristics of the exoskeleton are researched too.Secondly, an airbag force sensor is designed to collect the force of the thigh muscles. The variation characteristics of the muscle force during one gait cycle are analyzed in detaiL A fuzzy control algorithm is developed based on the angular velocity, angular acceleration of the hip-joint and the muscle force during the gait period. Since the fuzzy control results give people a sense of dragging, the CPG learning algorithm is designed to study the output of the fuzzy control algorithm. According to the two algorithms the coordination control concept based on threshold is proposed.Besides these, the software-hardware platform of the system is set up which mainly consists of an encoder, motor drivers and a main control board. Then plenty of experiments are done based on the exoskeleton suit, the coordination control strategy and software-hardware platform, including the resistance experiment, the assisted scheme research experiments and the coordination control experiments.