Motion control of lower limb exoskeleton based on ergonomics
In order to avoid the impact of the size of the exoskeleton robot's hip and knee joints on the recovery of human normal walking function,and the influence of the size of the ankle on the landing posture of the foot,a mo-tion control method of the exoskeleton robot based on ergonomics is proposed.Firstly,while reducing the complexi-ty of the mechanism,ergonomics is used to collect the parameters of the human body and to build an exoskeleton model architecture suitable for human body size and comfortable to wear,so that the exoskeleton robot can meet the differentiated needs of wearers.Then,the posture of the lower extremity of the exoskeleton is established and the forward kinematics equation of the single limb three degree of freedom mechanical leg is constructed.Through the walking plan of the robot,the actual walking process of the exoskeleton robot is simulated by ADAMS to verify the variation law of the torque of each joint of the two legs when the human body walks.Finally,in order to verify the superiority and effectiveness of this method in joint speed control,fuzzy PID is selected for control.
万方数据
维普
