Research On Control Techniques Of Lower Extremity Boosting Exoskeleton

The lower extremity exoskeleton robot is evolved from a bipedal robot to assist human body assistance.It is a device to improve the human body's motion load capacity.It can compensate for the robot's perception ability through human recognition and cognitive ability,and make up for the robot's battery life Human strength defects have realized the complementary advantages of humans and robots,and the application requirements of lower extremity exoskeleton robots in military,medical,and industrial fields are increasing,and the corresponding research space and development fields are also growing.The lower extremity exoskeleton robot adopts bipedal gait walking,which has good movement flexibility,but relatively poor balance and stability.At the same time,due to the delay between the sensing system,the control system,and the driving system,it will cause the lower extremity Skeletal motion control is delayed,and for the structural design of the lower extremity exoskeleton robot,its own center of gravity has changed significantly compared to humans.Therefore,after the wearer wears the exoskeleton,his gait characteristics have occurred change.In this article,we elaborate on the design of a lower extremity exoskeleton robot.This exoskeleton robot is designed using a human bionics structure.The hip and knee joints of the lower extremity are equipped with independent drive units to assist.This article discusses the gait detection and motion stability control of the lower extremity exoskeleton.It controls different cycles of gait.The designed lower extremity exoskeleton has similar gait movement characteristics and stability as the wearer.The controller performs transitional stability.The main research overview of this article is as follows:(1)Aiming at the experimental requirements of lower extremity exoskeleton,an experimental platform for lower extremity exoskeleton robot is built.The lower extremity exoskeleton robot adopts anthropomorphic design and its software and hardware systems are designed.(2)In accordance with the characteristics of human gait movement and the stability of gait movement of exoskeleton robots of lower extremities,the experimenters wear relevant equipment to collect gait movement data,and select appropriate machine learning algorithms to detect and divide the gait after recording the data,And through OpenSim software to analyze the movement characteristics and power consumption characteristics of the lower limb swing period and support period,select the support period for gait planning and control,and finally train the wearer's gait through random forest to train and learn the gait prediction.(3)Aiming at the control of lower limb exoskeleton stability,combined with ZMP stability criterion and gait planning control based on Gaussian mixture model of task parameters,compared with interpolation method and Newton prediction method,it has a reference to real-time stability of lower limbs.The stability of the lower extremity exoskeleton robot,and through the design of the synovial control rate,the data drive of the gait during the support period and the swing period is transitionally controlled to achieve the follow-up control of the leg position during the support period and the stable step during the swing period The motion control of gait planning enables the wearer to reduce the influence of human control when swinging and improve the gait stability of the lower exoskeleton.