Motion Information Acquisition from Human lower Limbs for Wearable Robot

摘要

In this paper, a wearable robot gives assistance or support to human locomotion is proposed, it will be of great value for certain activities or for special groups. As the wearable exoskeleton moves according to human intention, how to acquire human locomotion information accurately and quickly become so significantly. Firstly, we make a dynamic analysis of walking human body and build a correlative dynamic model, then introduces our wearable robot which depends on human-robot interaction force to capture human motion information real-time. Its design is strictly in accordance with dynamic model. We also make a detailed introduction of the acquisition method for mechanical information from lower limbs, detection device and its principle of operation, a LAN(Local Area Network) based on CAN(Controller Area Network) bus used to acquire motion information of human lower limbs is constructed. At last, a series of experiments are carried out, by analysis of experimental data, we can clearly recognize and depict a whole process of human motion, this acquisition method is verified feasible and effective.