Vision-Assisted Autonomous Lower-Limb Exoskeleton Robot

摘要

Lower-limb exoskeleton robots can effectively help patients with lower-limb disabilities caused by stroke or spinal cord injury to walk again. However, when faced with complex ground surfaces, patients find it difficult to quickly and accurately transmit the motion intention to the robot, resulting in falls or errors. In this article, we develop the vision-assisted autonomous lower-limb exoskeleton robot (VALOR). Based on the principles of human visual feedback and motion decision-making, a vision-assisted autonomous gait pattern planning method is proposed to improve the adaptability of the robot to the environment. The robot obtains environmental information via an RGB-D camera and extracts the ground object features that might affect gait. Then, the robot makes an autonomous decision according to the environmental features, robot state, and safety constraints. Lastly, a suitable step length and height are given to the parameterized gait pattern planning model of robot to assist with walking. The feasibility of the proposed method is verified on VALOR in a controlled indoor environment with limited obstacles, and our results demonstrate that the method can significantly improve robot adaptability to complex walking environments.