Design on intelligent perception system for lower limb rehabilitation exoskeleton robot

摘要

In the system of lower limb rehabilitation robot, the perception system plays two major important roles as follows. 1) judge the wearer's movement intent in order to determine the gait of human body during walking, thus provide the basis for the control system; 2) revise the assist force provided by control system through sensing feedback. After analyzing the needed control information of lower limb rehabilitation robot, an intelligent multi-senor perception system is designed based on surface electromyography information, joint angle information and human-robot interaction force information. The system includes surface EMG sensors, photoelectric encoders which get hip and knee angle information, piezoelectric thin film sensor which can access to the interaction force. The simulation results indicate that the perception system can accurately distinguish the gait phase of the patient so that it can provide switching condition for the different control strategies of the different gait. In addition, the assist force of the control system can be corrected through data acquisition and display of the joint angle signal and interactive force signal. At the same time, it is convenient for doctors to monitor the rehabilitation training process of the patient and master the health condition of the patient.