一种下肢康复机器人步态的生成与调节方法

A Method of Gait Pattern Generating and Regulating for Lower Limb Rehabilitation Exoskeleton Robot

针对下肢康复外骨骼机器人康复训练参考步态的标准化设计,对平地行走、上楼梯和下楼梯等不同情境下的步态轨迹的设计问题进行研究,提出了由无线惯性传感器采集人体步态,利用基于关键点的步态生成与调节方法,得到了融合过渡过程的参考步态曲线。利用得到的参考步态曲线指导下肢康复外骨骼式机器人辅助人体在平地行走、上楼梯和下楼梯等情景下进行康复运动训练。实验结果表明,该算法生成的参考步态曲线符合人体运动规律,过渡过程连贯平顺,可以应用于下肢康复外骨骼机器人的步态训练中。根据该算法开发的步态设计与仿真程序,方便了不同类型人体的步态设计,为今后下肢康复外骨骼机器人步态的研究和优化提供参考。

Aiming at the standardized design of the reference gait pattern for the rehabilitation training of the lower limb rehabilitation exoskeleton robot,the design of gait trajectories in different situations such as walking on flat ground,going up and down stairs is studied.A wireless inertial sensor is used to collect human gait.Based on the key point gait pattern generation and regulating method,the reference gait curve of the fusion transition process is obtained.The obtained reference gait curve is used to guide the lower limb rehabilitation exoskeleton robot to assist the human body in rehabilitation training such as walking on flat ground,going up and down stairs.The experimental results show that the reference gait curve generated by the algorithm conforms to the laws of human movement,and the transition process is coherent and smooth,this method can be applied to the gait training of the lower limb rehabilitation exoskeleton robot.The gait pattern design and simulation program developed according to the algorithm facilitates the gait pattern design of different types of human bodies,and provides a reference for the future research and optimization of gait pattern of lower limb rehabilitation exoskeleton robot.