Production of CPG pathways for lower limbs with the ability to change routes online

Abstract

The aim of this study is to provide a central pattern generator (CPG) method that can be used to control the lower limbs and use the exoskeleton robot. The generator is based on Winter book formulas and articles written in this field and created in some parts. In order to reproduce the correct rhythmic movements of the knee angles to the pelvis and the angles of the knees to the ankles and to help the rhythmic cycle of the healthy leg for the defective leg in the network (CPG) was calculated using nonlinear differential equations. Using a change in the parameters of the control system, he used it to control the lower limbs and help different types of anomalies in walking in patients with various motor disorders. (Using the data obtained from the pattern of the person with the insufficiency in one of the legs and using the healthy foot pattern of the same person, the walking simulation model / experimental data presented,) were developed and the simulation results Numbers can be suggested as tips to further improve the model and use it to control the lower limbs and exoskeleton robots. Rhythmic patterns may be used to plan the path of various robot systems, such as exoskeletons and animal robots, and other such robots.