Research On The Design And Gait Planning Algorithm Of Lower-Limb Walking Assist Exoskeleton

Lower-limb exoskeleton is a wearable man-machine integrated mechanical device.In the military,medical and other fields,it has a wide range of applications.The lower-limb walking assist exoskeleton,in this paper,is designed for the large number of elderly and lower limb disability patients in our country,to help them walk upright,and to make up for the lack of traditional equipments.In this paper,according to the functional requirements of the lowerlimb walking assist exoskeleton,the system design is synthetically based on the knowledge of mechanics,electronics,software engineering and so on.The hip and knee joints of the exoskeleton are driven by servomotors,and the patient can operate a pair of auxiliary support tools to control the body's balance and walking direction.The exoskeleton's control system selects STM32F405 series microcontroller as the master chip,and uses uC/OS embedded real-time operating system to implement motor control,sensor signal acquisition and processing,communication and other tasks.This paper focuses on the design and implementation of the gait planning algorithm for the lower-limb walking assist exoskeleton.The gait planning algorithm based on normal gait data is widely used,which is mainly realized by gait data acquisition and walking motion reproduction.It has the advantages of good universality,low development difficulty and short development time.However,it is difficult to satisfy the needs of the specific requirements of the walking parameters from different people.In this paper,a gait planning algorithm based on an active walking model is proposed.Firstly,the walking model of the exoskeleton is established,and then the model is analyzed from the perspectives of dynamics,kinematics and energy.At the same time,a series of idealized assumptions and simplifications are made,and finally solve the gait data.Finally,this paper completes the system debugging of the lower-limb walking assist exoskeleton prototype,and conducts the clinical trials.The experiments show that the exoskeleton prototype can implement the functional requirements,and has a high reliability.In addition,the gait planning algorithm based on walking model can plan a reasonable and effective gait,and can adjust the planning parameters to optimize the gait.