Research On Dynamic Exoskeleton Control Strategy Based On Inertial Parameter Identification

With the increasing age of our country,there are more and more cases of lower limb dysfunction.In addition,the situation of lower limb dysfunction caused by accidents every year is increasing with the advent of the era of national automobile.In addition to traditional pharmacophysiological therapy,assisted exercise and rehabilitation training with dynamic exoskeleton is also a good way.As the basis and premise of other sports,the standing process requires the participation of the main muscle groups of lower limbs,which requires high physical function.Therefore,with the development of science and technology in our country,the research of dynamic exoskeleton based on human inertia parameter identification has become an important direction in the current related scientific research field,which plays a huge role and has a bright future.The main contents of this research are as follows:(1)Based on the structure and function of hip joint,knee joint,ankle joint and major muscle groups in the process of human standing,the reference frame and description method of standing motion are obtained on the basis of Cartesian space rectangular coordinate system,combined with the current research results of human body parameter identification and related dynamic exoskeleton.On the basis of analyzing the large data statistics of the main joint degrees of freedom and range of motion,the human body is simplified to a rigid body model of three-limb inverted pendulum for the second and third stages of the standing process.Based on the second kind of Lagrange dynamic equation,the kinematics model of the starting stage is established.(2)On the basis of studying and analyzing various common control methods of dynamic exoskeleton,a dynamic exoskeleton control system is designed by using fuzzy PID control.Furthermore,a rehabilitation training strategy for patients with lower limb dysfunction is formulated.Through inertial sensing detection,human body position and posture change identification and dynamic exoskeleton torque output control,the subjects themselves are fully utilized and brought into play.Muscle muscle group forces provide joint moment to assist standing up movement,and then achieve smooth and safe standing,and ultimately achieve the purpose of physical rehabilitation or auxiliary movement.(3)According to the actual laboratory environment requirements,a set of signal acquisition device for sole and seat support force,as well as the linear acceleration and angular acceleration sensing signal acquisition system for the main limb segments of human body were designed.On the basis of building the experimental platform,data acquisition and analysis were carried out for healthy subjects and patients with lower limb dysfunction during the actual stand-up process,and the availability of the control system was verified on the basis of verifying the reliability of the inertial sensor detection system.