Research on Lower Limb Rehabilitation Exoskeleton Control based on Improved Dynamic Motion Primitives

Aiming at the shortcomings of Lower Limb Rehabilitation Exoskeleton control method in providing active rehabilitation training assistance and adaptability to different patients, this paper designs a lower limb rehabilitation exoskeleton robot by studying the structure and motion characteristics of human lower limb joints. Based on the dynamic model of the lower limb rehabilitation exoskeleton, the driving torque of lower limb joint is solved by Lagrange method. Coupled with the man-machine coupling model, the structure optimization of lower limb rehabilitation exoskeleton is realized. A lower limb rehabilitation exoskeleton control algorithm based on improved dynamic primitives is proposed to improve the flexibility of movement in the process of rehabilitation training. A prototype experiment platform based on Vicon 3D motion capture system was built, and the subjects' wear comparison experiment was carried out to verify the effectiveness of the control algorithm, which can meet the needs of completing high-quality rehabilitation training.