Research On Prevent Fall Walking Control For Lower Limb Exoskeleton Robot

In order to achieve increased physical fitness or to help patients with normal movement of lower limbs and other functions,lower extremity exoskeleton technology has been more and more attention in the world.In this paper,the key technical problems of the mechanical structure and gait stability of the lower extremity exoskeleton robot are studied,in Anhui province science and technology research project(1604a0902125)"wearable lower limb assisted robot research".In the process of configuration of the external skeleton of the lower limbs,the human body kinematics and human anatomy research results are analyzed,and the characteristics of lower limb movement of human walking process are analyzed in detail.based on similar functions,simple structure,the principle of light weight,the transmission scheme of the external skeleton robot is constructed.According to the size of adult adults in China,the main dimensions of the external skeletal robot are determined.Developed a new set of lower extremity exoskeleton robot,and processing of experimental prototype.In view of the gait stability of the external skeletal robot,In this paper,the coordinate model is used to establish the motion model of the lower extremity exoskeleton robot,and the positive and inverse kinematics analysis is carried out.Dynamic analysis of biped support phase and single foot support phase on human walking based on Lagrangian theorem.The formula of zero-moment-point(ZMP)is deduced,based on the stability margin of zero moment and the principle of cubic spline interpolation,the walking gait of lower limb exoskeleton robot is planned.Using ADAMS software to establish a virtual prototype,and given specific parameters.The walking gait of the motion trajectory of each drive joint is simulated by simulation technology,which proves the rationality of the mechanism design and the feasibility of gait planning.In order to verify the theoretical results of walking stability of the lower extremity exoskeleton robot,build pedestrian control experimental platform,through the gait control experiment,collecting the relevant data in the process of walking,the actual position of zero moment point(ZMP)is calculated by combining the collected experimental data.It is found that the experimental result matches the expected walking stability region,Which proves the feasibility and rationality of the ZMP gait control method.