A new driving strategy for Lower limb-assisted exoskeleton robot

Abstract

In this work, a control strategy is developed for a lower limb-assisted exoskeleton. To determine the current motion gait of the human body, the hip and knee joint angles, and plantar pressure values are sensed and analyzed, which are then used to actuate the exoskeleton to provide support for the hip and knee joints. The dual motion systems-the exoskeleton drive system and the human lower limb motion system-are established in this control approach. Without the need to first learn the user's gait, the assistance of the exoskeleton is provided by the motions of the human movement system and is sufficiently flexible to account for changes in step length and walking speed as the user moves through the gait cycle. Throughout this process, the exoskeleton system avoids providing power, providing the freedom to walk and stop in the course of our daily lives.