Experimental research on assisted control of lower limb exoskeleton robot

With the rapid increase of aging population in China, more and more power-assisted devices need to be used. In this paper, aiming at the walking problem of the elderly or the disabled, a lower limb exoskeleton assisted robot based on motor drive is designed. This article first briefly introduces the mechanical structure, hardware system and software control system of the lower limb exoskeleton, and then proposes the assist control algorithm based on the dynamic model of the lower limb exoskeleton robot. Plantar pressure is used as the metrics to evaluate the effectiveness of the power control algorithm. Experimental results verify the effectiveness of our proposed assisted control algorithm. Experimental results show that the proposed algorithm can significantly reduce the plantar pressure of the wearer, which verified the effectiveness of the assisted control algorithm.