Research And Implementation Of Gait Planning Method For Walking Exoskeleton Ascend And Descend Stairs

The walking exoskeleton is a wearable robot used to assist the movement of the hu-man lower limbs.The walking exoskeleton is widely used in medical,military and civilian fields.In the field of medical rehabilitation,the walking exoskeleton is used to assist para-plegic patients to complete rehabilitation exercises and help patients walk and climb stairs in their daily lives.At present,the use of walking exoskeleton go up and down stairs is generally applicable to fixed gait.Therefore,it can only be applied to the rehabilitation scene with fixed-size stairs,not in the life with different-sized stairs.It is necessary to study how to help the walking exoskeleton to go up and down stairs of different sizes in an adaptive way in gait.The main research contents are as follows:A gait planning algorithm based on dynamic motion primitive algorithm framework to adapt to multi-scale staircase is proposed: aiming at the problem of multi-scale stair gait adaptation of exoskeleton up and down.This article analyzes the characteristics of multi-scale stairs up and down with fixed gait,and determines that in addition to the need for adjustable gait and the center of gravity transfer is also considered.Based on this,a gait planning algorithm adapted to multi-scale stairs is realized based on the measured step positions and heights.The method flexibly adjusts the gait curve according to the step position and height and changes the executed gait curve according to the position of the sole pressure center during ascending and descending stairs,which indirectly adjusts the position of the center of gravity.Thereby,gait can be adjusted and controlled during the up and down stairs.Implementation of up and down staircase strategy and stair parameter detection: In order to realize the exoskeleton up and down multi-scale staircase in the actual environ-ment,this thesis designs the stair-climbing strategy,and then combines the stair-climbing strategy with the gait planning method.In order to realize the parameter input of the adjustable stairway gait method,this study divides up and down stairs gait into three cat-egories: first step,second step,and support step,and then adjusts the planning method appropriately according to the needs of each category.The planning effect of each cat-egory is verified.It is proved that the gait can be adjusted according to the scale of the stairs,and the shifting the center of gravity when going up and down the stairs can be indirectly improve.This thesis implements the stair detection and gait planning method on the system,and then verifies the validity of the theory and algorithm and the actual implementation effect,including verifying the accuracy of the detection stair in various scenarios,the effect of shifting the center of gravity of the stairs,and comparison the effect of stairs on different scales and the time consumption of the same stairs which indirectly reflects the effectiveness of the method.