Research on sensing strategy for exoskeleton robot control

摘要

Recently, the human-machine exoskeleton system, which is a kind of wearable robot, has been widely developed for human body's restoration and enhancement of motor function. The exoskeleton for assisting disabilities, performance enhancement, etc., however, has some limitations and shortcomings in the coordination between human action and external mechanical structure due to the single sensing method. In the paper, a new sensing strategy based on the gait planning, combined with EEG pre-judged subsystem, sEMG accurate sensing subsystem and optical correction subsystem, is proposed as a feasible solution. Instead of the passive control of exoskeleton robot, the intellisense system combined with multi-dimensional sensing information can ensure the motion coordination and accuracy, and will build a bridge for achieving the active control of the operator for the external mechanical structure.