Experimental Study of Lower Extremity Exoskeleton Robot

摘要

At present, there are few reports on the content of systematic experiments in the literature of lower extremity exoskeleton robots. The lower extremity exoskeleton robot system is time-varying, nonlinear, and coupled. In order to adapt to the needs of walking on different roads, this paper designs a lower extremity exoskeleton robot system which is light in weight, convenient to wear, safe and comfortable based on the characteristics of human lower extremity joints. The inertial sensor and plantar pressure sensor are used to collect human motion data; the fuzzy PID control algorithm is researched, and the exoskeleton robot is worn under different road conditions for walking and assisting experiments. The fuzzy PID control algorithm is adaptive and effective, and it realizes the human-machine following of the extremity exoskeleton robot.