This paper puts forward an information acquisition and control system for the exoskeleton robot, which can collect movement and location information of the robot timely through a variety of sensors. The information is preprocessed by the microcontroller firstly and then transmitted to the host computer for data analysis and processing by ZigBee wireless transmission module to analyze the movement intention of human by virtue of the monitoring software on the host computer. To achieve assistance, the motor drive will be controlled by the robot through CAN bus, and the robot can effectively analyze human’s intention and monitor the operation status of the assisted robot in practical applications, finally enhancing the body's walking ability.

A sliding mode control algorithm based on proportional switching function was developed to make the lower limb exoskeleton more fit the human walking gait trajectory. It could improve the comfort of the exoskeleton wearer and enhance the reliability of the system. The three-dimensional mechanical model of the exoskeleton built using software SolidWorks was introduced to ADAMS and then the model parameters were set. The model was combined with the software MATLAB so that the human-machine cooperation control algorithm for lower limb exoskeleton based on ADAMS and Simulink co-simulation was developed. The simulation result was compared with the desired trajectory and the trajectory under PID control. The research discovered that the ability of trajectory tracking under the sliding mode control was much better than that under PID control. It provided an important theoretical basis for the research on human-machine cooperation control algorithm.

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