| Exoskeleton robot is a kind of intelligent equipment that can be worn in the lower limbs of human body.It has a wide range of application scenarios,and has a wide range of applications in military,industrial and medical fields.At present,the design and analysis of the hydraulic exoskeleton are more in the stage of theoretical analysis and simulation with software.On the basis of the prototype,the exoskeleton power system is designed to be lightweight.Compared with the traditional scheme of using hydraulic station equipped with servo valve,each joint of the exoskeleton in this project adopts the distributed driving scheme,that can greatly reduce the weight of the whole power system under the condition of meeting certain load capacity.The main research contents and results are as follows:(1)The design requirements of exoskeleton hardware platform are analyzed.The freedom of joint,the adjustability of exoskeleton,the convenience of wearing,the safety and the strength of the whole structure are considered.The main body of the external bone was designed and a prototype was made.(2)The gait of human body is analyzed,and the dynamics of exoskeleton is analyzed by Lagrange method.The torque value of each joint of exoskeleton is obtained by MATLAB simulation.After that,the human simulation parameters of exoskeleton system and the basic parameters of hydraulic power system are set.Finally,the hydraulic drive system is designed and analyzed.(3)the exoskeleton information acquisition system is built,which mainly includes foot pressure sensor,human posture detection module and magnetic encoder.Based on the research of its working principle and communication method,corresponding algorithms are designed to process the collected data,such as LMS adaptive filtering algorithm and Kalman filtering algorithm.(4)the exoskeleton control system is completed,including data communication and processing,power system control and control algorithm.Through the method of creating WIFI to build communication network,reduce the delay of data transmission.The master-slave control strategy is used to control the lower limb exoskeleton,and the weighted zero order local prediction algorithm is used to predict the next human motion data.Through the simulation experiment,the accuracy of the prediction results is verified under the condition of normal gait and variable speed walking.The dynamic response characteristics of the motor and the limit commutation frequency of the commutation valve are analyzed,and the reliability and real-time of the control algorithm are verified. |
