Gait Balance Method Of Lower Exoskeleton Robot For Rehabilitation

Lower-limb exoskeleton rehabilitation(LER)robots have become increasingly popular as mobility aids because of the tremendous advances over the conventional devices as well as the traditional physical therapeutic routines.It has a very good application in the field of medical rehabilitation to help patients with lower limb mobility.In this paper,we carry out research in developing a human gait acquisition system,exploring the influencing factors of human gait,designing a robot gait balance method and other aspects.As a machine applied to people,the most important thing is human-centered.Based on the gait data of normal people,this paper designs a multimodal gait acquisition system(including sensor acquisition and image processing acquisition)and establishes a human gait database.And the gait data is studied to get the law of human gait movement,which bridges the users’ quality of experience(Qo E)with the physical impact factors of human walking gait,i.e.the gait cycle,the stride length and the stride height.In the design of robot intelligent balance enhancement strategy,we first propose six standard gait models based on gait classification of human gender and age.According to the characteristics of each group of people,we give the most suitable training gait to realize the human-like gait strategy.Furthermore,in order to realize human motion intention estimation and further improve the walking stability of robot and the Qo E of users,we combine the standard gait model with the Qo E trace of users,and propose a personalized gait strategy.We use LSTM gait prediction algorithm based on Qo E to realize real-time gait prediction.Finally,a large number of subjective tests are carried out under various conditions to verify the feasibility of the proposed gait balance algorithm.The experimental results verify the effectiveness of human-like gait strategy and personalized gait strategy.After the lower limb exoskeleton robot implements the gait balance method,the user can get rid of the crutches to achieve stable walking,and has a very good quality of experience.The proposed personalized gait strategy can consider the Qo E and walking characteristics of each patient to assist and rehabilitate the disabled with excellent performance.