Design Of The Lower Extremity Exoskeleton Robot And Its Key Technology Research

In China,the trend of population aging is increasing,and the increase in patient survival rate also leads to a corresponding increase in the rate of disability.However,the corresponding rehabilitation treatment resources are very limited.According to statistics,the medical resources in first-tier cities in China can only meet 20% of acute rehabilitation needs,and 80% of rehabilitation needs to return to the community.The lower extremity exoskeleton is an auxiliary robot system that is shaped like a human body and can be worn to improve the carrying capacity of normal people and expand the athletic ability of disabled people.The system includes cutting-edge technologies in many fields such as sensing control,humancomputer interaction and mechanical engineering.Today,the bionic legs on the market are mainly used in the human prosthetic field and are mostly passive.Therefore,based on the previous work results,this paper develops a hybrid-driven lower extremity exoskeleton robot and conducts the following research:First,the overall scheme of the exoskeleton mechanical structure and control system was determined.In the structure,a lower limb exoskeleton robot based on DC brushless motor + electric push rod hybrid drive is designed,and the torque value of the joints of the two legs and the actual joint size are calculated for the real human body.At the same time,the introduction of the waist width automatic adjustment mechanism makes the exoskeleton robot suitable for people of different sizes.In the selection of the sensing system,the humanmachine contact force sensing system is selected as the main information source for the exoskeleton control system to detect the motion information and determine the motion intention,and the overall design of the control system is completed according to the characteristics of human-computer interaction.Then,based on the designed mechanical structure of the lower extremity exoskeleton,the kinematic equation of the exoskeleton is established according to the D-H method and the toolbox of MATLAB and verified to provide data support for the realization of gait control.The novel spatial operator algebra method is used to model the simplified human lower limb model,which solves the shortcomings of the traditional modeling method.On the basis of theoretical analysis and calculation,through the gait planning,ADAMS is used to simulate the actual walking movement process of the exoskeleton,so that kinematics and dynamics analysis can be performed.By comparing the output torque value of the driving system with the output torque value of the simulation result,Verify the rationality of the drive system design.Finally,in order to improve the rapid response of the exoskeleton movement,the joint servo system is mathematically modeled to obtain the rotational speed control transfer function of the selected joint motor,and the fuzzy adaptive PID is used as the exoskeleton control algorithm to realize the exoskeleton joints.The effect of quick boost.Through the interactive co-simulation of MATLAB and ADAMS,the results show that each fuzzy PID control unit can work in parallel in the actual mechanical system and has a good synergistic effect.According to the needs of the foot pressure sensor and other related force sensors,the main controller circuit,feedback detection circuit,control watch circuit and Bluetooth communication circuit design,modularized design of the exoskeleton software system program flow.