Research And Implementation Of Gait Planning For Lower Extremity Exoskeleton Robots For Hemiplegia Rehabilitation

As the society enters the aging stage in china,the number of physically disabled people is increasing.In order to solve the contradiction between the supply and demand of rehabilitation professionals caused by this problem,many institutions which are researching lower limb exoskeleton and corresponding products have appeared on the market.However,there is currently no machine for the lower extremity exoskeleton products that can be used for hemiplegia patients to exert the function of the healthy lower limb of the hemiplegia patients,which may cause the autonomous movement function of the healthy lower limb of the hemiplegia patients to gradually deteriorate.At the same time,the existing lower limb exoskeleton device adopts a passive motion mode with a fixed motion curve,which is not universal and cannot conform to the walking habit of the currently worn patient.How to solve the above problems and give full play to the motor function of the lower limbs of the hemiplegia patients has become an urgent problem to be solved in gait planning.The gait planning design of this thesis needs to be realized in the Rehab hemiplegia rehabilitation lower limb exoskeleton system.Because there are different motion modes in the system,this thesis adds the corresponding gait planning module in the main control logic,and designs the data sampling circuit.Transplant communication procedures to complete the study of optimal steps and ensure gait planning.This exoskeleton system can help the patients with hemiplegia to realize the auxiliary training from the physician.It consists of five subsystems: mechanical structure,drive module and actuator,sensing system,human-computer interaction interface,main control module and communication system.In view of the characteristics of hemiplegia patients,considering the special situation of hemiplegia patients distinguishing the lower limbs from the affected side and the lower limbs,two different schemes are proposed for the first step from the body upright to the beginning of walking during the walking of the one-legged driving exoskeleton.How to make a step to make the exoskeleton machine work best with the wearer has become a problem that needs to be studied.There are two different walking strategies for the healthy side and the affected side in the process of wearing the exoskeleton.Because of the different factors affecting the exoskeleton performance and the wearer's own factors,the fuzzy comprehensive evaluation method is selected.Different step strategies are evaluated,and various influencing factors are quantified through experiments to visually evaluate the advantages and disadvantages of different step strategies.In view of the fact that the existing lower limb exoskeletons can not fully exert the function of the lower limbs of the hemiplegia patients and the gait curve is single,it can not satisfy the current wearer's walking habits,and fully consider the movement characteristics of the patient's healthy side,and proposes that the healthy side can be fully utilized.The gait planning method that adapts the current patient's walking habits.By collecting the gait curve of the lower limb of the patient's lower limb,the collected curve is reproduced by the method of spline interpolation,and the walking gait of the healthy side of the patient is restored to the affected side.The ability of spline interpolation to capture and restore the curve is verified by simulation,and the currently used mirror gait generation method is experimentally verified on the system,and the expected requirements are met.