Research On The Method And Application Of Gait Assessment Of Lower Limb Exoskeleton Robot

Lower limb exoskeleton robots are used as rehabilitation aids to help paraplegic patients to complete daily activities such as standing,walking,turning,etc.However,at present,the physical rehabilitation assessment of patient and assessment of the proficiency of using exoskeleton in medical institutions need to be established.Further more,the proficiency assessment of using exoskeleton can only be evaluated by simple experience,and there is no quantitative method.Therefore,this thesis proposes a gait assessment method and proficiency assessment method for lower limb exoskeleton robots.Then,this thesis analysis the causes of proficiency differences.Finally,build an actual system to verify the method.The thesis mainly includes the following aspects:Under the rehabilitation medical scene,the rehabilitation assessment of patients using personal exoskeleton robots need to be established.In order to solve this problem,this thesis proposes a gait assessment method for lower limb exoskeleton robots,then,designs and implements a gait assessment system for lower limb exoskeleton robots.The method this thesis proposed calculates the gait parameters when the patient wears the exoskeleton for rehabilitation training through the data of the exoskeleton sensor.The system this thesis built uses the calculated gait parameters to display the improvement of the patient's gait during previous rehabilitation training in the form of an assessment report.First,based on the gait assessment theory in rehabilitation assessment,this thesis constructs a normal person's gait parameter model from the aspects of gait's spatiotemporal parameters,joint angle,symmetry,and balance.Secondly,combining the theory and characteristics of exoskeleton data,calculate the spatiotemporal parameters,joint angle,symmetry,and balance of gait when the patient wears lower limb exoskeleton for walking training as assessment indicators.Finally,the assessment index is applied to the system to construct the gait assessment system of lower limb exoskeleton robot.From the verification results,the system can accurately reflect the patient's gait condition when wearing exoskeleton robot for rehabilitation training.Under the rehabilitation medical scene,the proficiency assessment of using exoskeleton can only be evaluated by simple experience,and there is no quantitative method.In order to solve this problem,this thesis put forward a quantitative method for proficiency of using exoskeleton and construct a proficiency model based on the gait assessment method of lower limb exoskeleton robot.Finally,the reasons for the difference in proficiency are analyzed in terms of gait trends.First,the proficiency is defined from the aspects of exoskeleton rehabilitation training model and functional assessment in rehabilitation assessment.Second,the ADL rating scale for lower limb exoskeleton robots is designed according to the definition of proficiency.Then,conduct an experiment,collect sensor data when the patient wears the exoskeleton and score the whole process with the designed ADL rating scale.Next,look for the correspondence between gait parameters and scores when the patient wears the exoskeleton,and build a proficiency model based on RF and GBDT.Then grade the proficiency in order to distinguish the score results and reflect the functional level intuitively.Finally,from the aspect of gait trend,the DTW algorithm is used to analyze the reasons for the difference in proficiency.The experimental data shows that the proficiency model has good discrimination effect and robustness.This thesis proposes a gait assessment method for lower limb exoskeleton robots,analysis the gait parameters when patients wear lower limb exoskeleton robots for rehabilitation training comprehensively and systematically,then an exoskeleton proficiency assessment method is further proposed.Finally,the gait assessment and proficiency assessment are applied to build a gait assessment system which help doctors to understand the rehabilitation process and provide a reference basis for the standardization and performance improvement of exoskeleton gait planning based on the lower limb exoskeleton robot.