Design of Information Acquisition and Control System for the Exoskeleton Robot

Abstract

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.

The control algorithm of the lower limb exoskeleton synchronous gait

“…This is due to the fact that such a movement should occur both in the sagittal and frontal planes. The kinematics of such a motion is quite complicated, so the mathematical modeling of the spatial motion of two-legged robots is presented only in several works due to considerable difficulties [1][2][3][4][5][6][7][8]21]. The mathematical description of the slow (quasi-static) gait of a human in an exoskeleton, according to our analysis, is not present anywhere.…”

“…That's why it is a very significant problem. There are a great amount of papers concerning bipedal gait [2,3,6,7,[12][13][14][15][16]22]. However, in the majority of cases the gait is considered in a single sagittal plane, thus limiting the application sphere of the results obtained for exoskeleton applications.…”

“…That's why the locomotion modeling should be considered in respect to the spatial kinematics, since the motion takes place both in the sagittal and frontal planes. This approach to the locomotion modeling appears only in some papers [1,3,7,13,15,18,21].…”