Simulating human–machine coupled model for gait trajectory optimization of the lower limb exoskeleton system based on genetic algorithm

摘要

The lower limb exoskeleton robot is capable of providing assisted walking and enhancing exercise ability of humans. The coupling human–machine model has attracted a lot of research efforts to solve the complex dynamics and nonlinearity within the system. This study focuses on an approach of gait trajectory optimization of lower limb exoskeleton coupled with human through genetic algorithm. The human–machine coupling system is studied in this article through multibody virtual simulation environment. Planning of the motion trajectory is carried out by the genetic algorithm, which is iteratively generated under optimization of a set of specially designed fitness functions. Human motion captured data are used to guide the evolution of gait trajectory generation method based on genetic algorithm. Experiments are carried out using the MATLAB/Simulink Multibody physical simulation engine and genetic algorithm-toolbox to generate a more natural gait trajectory, the results show that the proposed gait trajectory generation method can provide an anthropomorphic gait for lower limb exoskeleton device.