| Because the lower-limb exoskeleton has great potential in helping the elderly and the disabled walking,it has attracted much attention.For the exoskeletons of non-complete paraplegic users,common control methods contain oscillator-based methods,path-based control methods,and so on.However,the control methods above still have certain defects,that is,the coordinated movement between the joints cannot be achieved while maintaining the certain autonomy of the human body.Aiming at these problems,this thesis proposes an exoskeleton coordination gait control method.It is proved that the method can realize the coordination of motion between the hip and knee joints of the human body and maintain the autonomy of the exoskeleton users.The main work is as follows:(1)With the human walking experiment,the effects of walking environment,gait speed and exoskeleton mass on the coordination of human lower limb movement is analyzed through the continuous relative phase method,proving that there is strong coordination between hip and knee joints of human walking.(2)Utilizing the assessment index of coordination pattern and its variability,a method of assessing the lower limb movement coordination is proposed.The method is verified by experiments and is proved that it can be used to assess assisted performance of exoskeleton.(3)Based on the results of human body lower limb movement coordination analysis,a coordinated control method of lower extremity exoskeleton was proposed by constructing a time-invariant hip-knee joint coordination motion curve,which can realize coordinated gait control of lower extremity exoskeleton.Having built a man-machine application simulation platform based on MATLAB Simscape module,the feasibility of the coordination control method is verified by two testing tasks. |
