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

被引：0
|
作者：
Yue, Xian [1 ]
Zhu, Aibin [1 ]
Ma, Peifeng [1 ]
An, Delin [1 ]
Dang, Diyang [2 ]
Zhang, Yulin [2 ]
机构：
[1] Xi An Jiao Tong Univ, Inst Robot & Intelligent Syst, Shaanxi Key Lab Intelligent Robots, Xian 710049, Peoples R China
[2] Educ Minist Modern Design & Rotor Bearing Syst, Key Lab, Xian 710049, Peoples R China
来源：
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) | 2022年
基金：
中国国家自然科学基金;
关键词：
WALKING;
D O I：
10.1109/ICARM54641.2022.9959156
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：443 / 448
页数：6
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