Research On Anti-Fall Based On Omnidirectional Walking Cane Robot

As the problem of aging worsens,the proportion of older people in society as a whole continues to increase,which is why academic research on older people has become a hot topic today.Among them,the most common and critical threat to the life of the elderly is the problem of falls during walking.As the physical fitness of the elderly decreases with age,falls can cause irreversible damage to the elderly’s body and even lose their lives.Crutches play an indispensable role in the walking of the elderly.In the existing research on rehabilitation walking robots,smart wheelchairs are more stable and safer than walking frames,but the use environment is more restrictive.This article aims to improve safety and improve the ability to prevent falls with a cane.First of all,according to relevant literature and books,have a clear understanding of human musculoskeletal,the lower limb muscles used by the human body in the process of walking is determined,the positions of these muscles and bones is analyzed,and the starting and ending points of these muscles is established,a lower limb musculoskeletal model to simulate the changes of the human body during walking is established,and then the output of the lower limb muscles during walking through the optimization function is calculated,and its correctness through the electromyographic signal is verified.Secondly,during walking,the quadriceps muscle strength of the lower limbs is insufficient,which causes the lower limbs to be unable to move forward during the swing phase,causing the human body to lean forward and fall.The human body fall test is used to analyze the criterion of human body fall and establish.The human body model simulates the fall process of the human body.According to the analysis of the fall process of the human body,the omnidirectional walking cane is controlled to slow down the speed of the human body when it falls to maintain the balance of the human body and prevent the human body from falling.Finally,according to the human gait process,the trajectory of the omnidirectional walking stick when the human body is walking is determined,and the buffering trajectory of the crutches determined according to the human fall prediction is added to generate the control strategy of the omnidirectional walking robot.