Research On Lower Limb Bionic Exoskeleton System Rehabilitation Gait Planning Method

As we enter the 21 st century, significant increases in the percentage of population of bias and elderly people. Due to spinal nerve damage and lead lower extremity weakness, hemiplegia, paralysis, these populations are increasing. From the 20 th century, America begin to research on rehabilitation exoskeleton robot and power exoskeleton. Accompanied by robot technology advances, Rehabilitation of lower extremity exoskeleton research has been a breakthrough. In recent years, China pays more and more attention to the development of robots, such as develop wearable lower limbs rehabilitative robot. Rehabilitation of lower limb robot can help patients restore leg training, with better repeatability than traditional methods, can significantly shorten the recovery time and reduce the number of accompanying rehabilitation physicians, significant savings in labor costs. Exoskeleton can provide to Social and medical rehabilitation, as well as robot riding a positive contribution, and provide help for the elderly and lower limbs inconvenient walk again, improve living ability of vulnerable groups to improve their quality of life.This paper focuses on wearable lower limb exoskeleton's gait rehabilitation. Starting study with the gait security, real time judgment and no accidents, prevent secondary damage caused by rehabilitation robot to the people. Exoskeleton robot for this method using preset gait planning methods, need the servo drive system with a preset gait trajectory tracking control. In order to improve the driving dynamic response characteristics of the system under variable load conditions, using fuzzy control on every joint. Under variable load conditions, this control method is better than traditional PID control method with dynamic response characteristics, can improve the servo system and mechanical life and ability, and improve servo system to better preset gait tracks. Through the normal characteristics of gait analysis and research, combined with exoskeletons characteristic of gait like Four-legged with crutches, used to capture exoskeleton robot for four-legged gait. Through a large number of experiments, two paraplegics can walk now. Based on a large number of gait experiment, we found crutches has a great influence on the stability of the wearer's walk. Proposed four-legged leaning on crutch gait on a side, and experiments using a number of experimental, verified the crutches under unreasonable conditions, dynamic step gait has a higher stability than traditional fixed-step.