Research On Control Technology Of Walk Assisting Dynamic Extremity Exoskeleton Robot

With the growing global aging and increasing natural disasters,the number of paraplegics is increased by stroke and natural disasters.In China,the number of patients with lower limb paralysis is large.Artificial existing treatments rarely can be performed in patients,which will lead to a lifetime of paraplegic patients lying in bed who can not stand to walk.Walk assisting dynamic extremity exoskeleton robot is a outside powered joint robot device.It can provide ups,power,walker,walkers,and other functions for paraplegic patients to help them re-standing,walking,completing daily basic activities.This has an important significance for China's Medical Services Division.In this paper,Existing walk assisting dynamic extremity exoskeleton robot is huge,bulky,uncomfortable,and its gait trajectory control and human-machine coordination is not perfect.So a detailed theoretical analysis and related experiments are done in the structure of the robot,the robot modeling and simulation,robotics control systems.This paper describes the development of domestic and foreign for walk assisting dynamic extremity exoskeleton robot from four different angles and outlines the future developed key technologies.According to the characteristics of lower limb of the human bodyphysiological structure and lower limb rehabilitation training analysis,this paper establishs the overall structure of the robot and overall control scheme,on this basis,and proposes security policy of the robot.According to the structural design of the robot,robot's kinematics and dynamics is analyzed,and the robot's servo system simulation is done.At the same time,the robot control system hardware and software is designed in detail.On this basis,the control system security is designed.Walk assisting dynamic extremity exoskeleton robot is designed for the study,which is based on DSPACE semi-physical simulation platform.Experimental studies includes servo control experiment,one leg control experiments,legs control experiments,different modes' motion trajectory control experiment and experimental study of human-robot.