Development of Lower Limb Exoskeleton Robot

摘要

This paper is based on the mass of the lower extremity section to estimate the mass of the sole, calf and thigh. The exoskeleton robot adjusts the motor output torque according to the mass of each lower extremity section of different users. It is to adjust the mass of the lower limbs to zero moment point movement, so that the exoskeleton robot and the patient maintain a stable and balanced state during the movement process. The weared robot in the patient is balanced using the gravity mathematic equation, considering individual mass of sole, calf and thigh. Therefore, each joint loading can be accurately estimated, and every motor output current for controlling motor can be thus determined. The experiments were carried out by collecting the muscle electronic signal strength from the actions of standing up and sitting down. Analysis and comparison with and without wearing robot are provided to verify the effectiveness of the proposed robot. According to the muscle power evaluation scale from Medical Research Council (MRC), patients who have above symptoms normally show a weak muscle. After wearing an exoskeleton robot, it can correct posture to balance and save effort.