To enable exoskeleton wearers to walk on level ground, estimation of lower limb movement is particularly indispensable. In fact, it allows the exoskeleton to follow the human movement in real time. In this paper, the general regression neural network optimized by golden section algorithm (GS-GRNN) is used to realize prediction of the human lower limb joint angle. The human body hip joint angle and the surface electromyographic (sEMG) signals of the thigh muscles are taken as the inputs of a neural network to predict joint angles of lower limbs. To improve the prediction accuracy in different gait phases, the plantar pressure signals are also added into the input. After that, the error between the prediction result and the actual data decreases significantly. Finally, compared with the prediction result of the BP neural network, GRNN shows splendid prediction performance for its less processing time and higher prediction accuracy.

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In the current study, our research group proposed an asymmetric lower extremity exoskeleton to enable above-knee amputees to walk with a load. Due to the absence of shank and foot, the knee and ankle joint at the amputation side of the exoskeleton lack tracking targets, so it is difficult to realize the function of assisted walking when going up and downstairs. Currently, the use of lower-limb electromyography to predict the angles of lower limb joints has achieved remarkable results. However, the prediction effect was poor when only using electromyography from the thigh. Therefore, this paper introduces hip-angle and plantar pressure signals for improving prediction effect and puts forward a joint prediction method of knee- and ankle-joint angles by electromyography of the thigh, hip-joint angle, and plantar pressure signals. The generalized regression neural network optimized by the golden section method is used to predict the joint angles. Finally, the parameters (the maximum error, the Root-Mean-Square error (RMSE), and correlation coefficient (γ)) were calculated to verify the feasibility of the prediction method.

The finite element model (FE) of temperature field of straight thin-walled samples in laser cladding IN718 was established, and the growth of microstructure was simulated by cellular automata (CA) method through macro-micro coupling (CA-FE). The effects of different cooling conditions on microstructure, hardness, and properties of laser-cladding layer were studied by designing cooling device. The results show that the simulation results are in good agreement with the microstructure of the cladding layer observed by the experiment. With the scanning strategy of reducing laser power layer-by-layer, the addition of water cooling device and the processing condition of 0.7 mm Z-axis lift, excellent thin-walled parts can be obtained. With the increase of cladding layers, the pool volume increases, the temperature value increases, the temperature gradient, cooling rate, solidification rate, K value gradually decrease, and eventually tend to be stable, in addition, the hardness shows a fluctuating downward trend. Under the processing conditions of layer-by-layer power reduction and water cooling device, the primary dendrite arm spacing reduced to about 8.3 μm, and the average hardness at the bottom of cladding layer increased from 260 HV to 288 HV. The yield strength and tensile strength of the tensile parts prepared under forced water cooling increased to a certain extent, while the elongation slightly decreased.