Research on Locomotion-assisted Method for Lower Limb Loaded Exoskeleton Robots

Lower limb-loaded exoskeleton robots provide assistive power and support to the wearer, however, there are also problems such as poor efficiency of support assistance, rigid human-machine interaction, and strong interference with the human. In this paper, a control strategy based on human-heterogeneous exoskeleton end alignment is proposed, which can automatically adapt to people with different bodies and generate matching trajectories accordingly. In this study, three aspects of human information estimation, motion gait generation, and trajectory tracking control are explored. Moreover, the recognition and control method proposed in this study only requires human lower limb position and motor encoder information, and does not rely on force sensors, which has a wide range of applications and low development cost, and can be widely used in multiple types of heterogeneous exoskeleton robots.