Design and development of low-cost assistive device for lower limb exoskeleton robot

摘要

In this paper, we presented a low cost assistive device of an exoskeleton robot, to assist the lower limb muscle by following the gait pattern generation. The paper presents the technique how to duplicate the natural gait motion pattern based robotic platform from the neutral person motion as data pattern generation, to control the positioning of foot trajectory by following the data pattern generation which is performed by the embedded system. The distributed control is applied with four slave controllers and a master controller. Four slave controllers are performed to control the four dc motors for the joint revolute of hip and knee of both leg with the PID control technique of each joint. A master controller is to compute the data parameterized trajectories and the positioning of trajectory pattern. Our approach is successfully generated motion of the gait pattern and positioning control of the lower limp exoskeleton. The experimental results are demonstrated the gait pattern generation and robot locomotion.