Study On Mechanism And Control Strategy Of Motion Instability Of Lower Limb Exoskeleton Robot

In recent years,as economic crops have grown and grown,if the field management and harvesting of the lower limb can be developed in the agricultural filed,it can greatly reduce labor intensity and improve labor efficiency.The lower extremity exoskeleton is a wearable robot man-machine integration,is worn on the body after,"tracking the human gait as the shadow follows the form" to complete the man-machine coordination,then can provide help to replace part of the body bearing load,so as to achieve the purpose of man-machine cooperation.In military,agriculture,industry,commerce,rehabilitation,nursing and other fields have broad prospects for development.Because of the instability of walking process and the disturbance of external disturbance,so,based on the phenomenon of gait instability,to analyze and study the lower limb exoskeleton system.The exoskeleton model;this paper introduces the design of a connecting rod with seven lower extremity exoskeleton mechanism with twelve degrees of freedom,hip,knee,ankle and foot and other main parts for this specific mechanism are described in detail.The design mechanism can make the human body after wearing the normal gait walking,walking in the process of walking and provide assistance,and then the mechanism for dynamic analysis.Dynamic stability and the analysis of external disturbance parameters on dynamic stability of lower limb exoskeleton during motion;Firstly,ZMP theory based on the criteria of evaluation method of the dynamic stability of the proposed improved,and dynamic stability analysis of the lower extremity exoskeleton system in the sagittal plane and coronal plane.Secondly,the disturbance parameters affect the dynamic stability of lower extremity exoskeleton system was studied,and the parameter changes,the load swing angle changes of the lower limb exoskeleton system for gait stability influence is analyzed.The dynamic stability analysis of gait control strategy;man-machine system,when the external force disturbance will make the system lose stability,active control strategy is taken to restore stability to maintain a steady state,in order to adapt to the requirements of the.Based on the ZMP error correction,a walking control strategy is proposed for the exoskeleton system of the lower limb to ensure the coordinated operation of the exoskeleton and the exoskeleton.The ZMP gait real-time control including expanding the support polygon based on the change of control driver who wear compensation posture of the upper body and hydraulic active compensation control,and simulation experiments verify the feasibility of the control strategy.