Research On Lower Limb Exoskeleton Hemiplegia For Robot-Assisted-Walking

With the development of science and technology,the research of lower Limb exoskeleton is more and more extensive,especially the research of lower limb Exoskeleton hemiplegia for Robot-Assisted-Walking is in full swing.It can help patients walk,and in the medical field,many doctors are willing to use advanced science and technology to obtain scientific and reasonable healthy data,provide reasonable analysis and guidance to help patients regained walking ability.(1)Firstly,the research status and technical difficulties of Exoskeleton at home and abroad are studied and analyzed,including structural design,control method and sensor design and so on.According to the advantages and disadvantage of exoskeleton at home and abroad,the whole design scheme of Rehabilitation Exoskeleton is established.In this paper,combined with human kinematics and bionics principles,breaking the convention,determining the exoskeleton movement mode,and designing an lower limb Exoskeleton hemiplegia for Robot-Assisted-Walking which in line with human body structure and one leg assistant walking.According to the analysis of statics and dynamics,the type of motor was selected reasonably,the size of key parts of exoskeleton and the material of Exoskeleton shape were determined.For adapting to hemiplegic patients with different height and short,fat and thin,Exoskeleton robots can not only adjust their size,but also consider the comfort and safety of the patients when they exercise after wearing them,so it is necessary to install soft material in contact with human-machine,to avoid the abrasion of patient during exercising,and we need to design a limit device to avoid secondary injury of patients.(2)Secondly,Exoskeleton-assisted walking for hemiplegic patients is more rigorous in the design of the control system.The research of control platform includes motion capture sensor,foot pressure sensor and controller design.Wireless Stand-alone Sensing System(WSSS)can capture human posture data in real time,summarize the walking habits of healthy legs of hemiplegic patients and detect the accuracy of motion data of affected legs.WSSS can not directly output the joint angle,so the joint angle is calculated and simulated in Python to to obtain the joint angle and verify the accuracy of the data;The foot pressure sensor triggers Exoskeleton to assist patients walking.In this paper,the real weight of the experimenter is obtained by calibrating the foot pressure device,and the gait characteristics are divided.The Exoskeleton can automatically recognize gait features according to plantar pressure distribution,which provides a guarantee for reasonable control.(3)Finally,the integrated system is analyzed experimentally.Through the data analysis of hemiplegic patients,we can know that the lower extremity Exoskeleton assists the patients to walk by improving the motion amplitude of the patients.Therefore,in this paper,we simulate the use of Exoskeleton to assist walking.WSSS can detect the movement data of two legs in real time,process inconsistent data,and send the processed data to Exoskeletons.At the same time,it can display the walking process in Unity,give patients and doctors intuitive display,and also can store the acquired data for off-line analysis,and give patients scientific guidance.