Control strategies for stability recovery of full lower limb exoskeleton robot based on plantar pressure

Abstract

This paper builds a dynamic and visualized simulation platform with SolidWorks, ADAMS and Matlab, integrated with the achievements our research group obtained before. Based on current researches of stability control strategies and dynamic simulation for humanoid robot and power assisted robot, this study divides the fall process into four stages and proposes stability recovery strategy during different stages, then validates effectiveness through joint simulation platform. The results indicate that the strategies can effectively deal with push from various directions.