Research On The Perception And Control Technology Of Lower Limb Soft Exosuits

With the development of science and technology,people's demand for enhancing human's action ability is increasing,so exoskeleton assisted robot has also become a hot research field.A few years ago,Professor Conor Walsh of Harvard University Institute of biology proposed the concept of Soft Exosuits,which is a new direction in exoskeleton research process.The Exosuits has the obvious advantages in comfort and energy utilization rate,which eliminates the heavy mechanical structure of the traditional exoskeleton.In this paper,we research on the Perception and Control Technology of Lower Limb soft exosuits.The main research contents are as follows:In this paper,the lower limb soft exosuits system assists at the specific time of gait cycle.Based on the human motion data measured by the EMG signal sensor,the optimal assist time of gait cycle is found by analyzing the force generation time of lower limb muscle group during walking.In this paper,we propose a gait cycle division method based on IMU data,which is stable and effective.Then an algorithm based on the known gait cycle time is proposed to predict the next gait cycle.The average prediction error is about 3%.Then according to the actual needs of the system,a more matching walking gait division method is proposed,and the gait recognition of IMU data is carried out through machine learning algorithm,the recognition accuracy is 93%,avoiding the conflict between the assistance effect and the wearer's motion intention,and improving the accuracy of walking assistance.Next,based on the data collected by the experimental platform,according to the system power structure,the basic fixed power curve of thigh and calf is designed.Finally,aiming at the problem that the fixed curve assistance can not adapt to the variable speed walking conditions,the paper focuses on the adjustment strategy of the assistance under the condition of variable speed walking of human,so that the assistance is more in line with the natural walking conditions of human,so that the system assistance can adapt to different walking speeds.