基于步态状态机的康复型下肢外骨骼控制方法

Control strategy of rehabilitation lower extremity exoskeleton based on gait state machine

为实现对康复型下肢外骨骼的有效控制,根据康复型下肢外骨骼步行的特点,提出了一种基于步态状态机的控制方法。通过MATLAB/Simulink仿真分析,验证了该控制方法的合理性。搭建了基于该控制方法的康复型下肢外骨骼样机控制系统,进行了人机协同的平地行走、站-坐及坐-站实验等,进一步验证了该控制方法的可行性。研究结果表明,该控制方法能够满足康复型下肢外骨骼的需求,能有效控制外骨骼完成平地步行、站-坐和坐-站等下肢日常运动行为。

To achieve effective control of the rehabilitation lower extremity exoskeleton, a gait state machine-based control method was proposed. The method was based on the characteristics of walking with rehabilitation lower extremity exoskeleton. The rationality of the control method was verified through MATLAB/Simulink simulation analysis. A prototype control system of the rehabilitation lower limb exoskeleton based on this method was set up. The human-machine collaborative experiments of walking on the ground, standing-sitting and sitting-standing were performed, further verifying the feasibility of the control method. The results show that the control method can meet the requirements of the rehabilitation lower extremity exoskeleton and effectively control the exoskeleton to finish daily movement like walking on the ground, standing-sitting and sitting-standing.