Abstract
In order to achieve the normal walking of hemiplegic patients, this paper proposes a single-legged exoskeleton robot according to the bionics principle, and presents an adaptive adjustment strategy for walking characteristics. The least square regression analysis is used to fit the angle data of healthy leg joints by cubic polynomials, and then the parametric design of the fitted curve is carried out to obtain the influence of the user’s stride frequency and stride length on the joint angle, so that the gait of the exoskeleton can be adjusted in real time according to the stride length and stride frequency of the healthy leg to realize normal walking. In order to verify the effectiveness of the adaptive adjustment strategy proposed in this paper, the angle of leg joints under normal gait is collected in advance. In addition, an adult male is chosen as the subject to walk on the horizontal ground wearing the single-legged exoskeleton as the experiment. The experimental results show that the designed exoskeleton is reasonable, and the adaptive adjustment strategy proposed in this paper can make the exoskeleton adapt well and follow the gait of healthy legs to achieve a more natural walking state.
Highlights
The development of medical rehabilitation exoskeleton robot makes it possible for amputees or hemiplegics to walk normally [1,2]
Based on the characteristics of human walking symmetry, an adaptive adjustment strategy is proposed, that is, the stride length and stride frequency of the exoskeleton are adjusted in real time according to the change of the joint angle of the healthy leg, which makes full use of the information of the healthy leg and improves the enthusiasm of the hemiplegic patients
Stride frequency parameters a and stride length parameters c were modified in real time based on healthy leg gait to verify the effectiveness of the adaptive adjustment strategy for walking characteristics proposed in this paper
Summary
The development of medical rehabilitation exoskeleton robot makes it possible for amputees or hemiplegics to walk normally [1,2]. It is pointed out in literature [24] that, in this case, the use of a single-leg exoskeleton can reduce the weight burden of hemiplegia patients, and it is effective and convenient for the movement recovery of hemiplegia patients In consideration of these imperfections, Hassanet et al [25] introduced a wearable sense system for the single-legged exoskeleton to generate a stable gait, in which an instrument walking stick was added to reflect the condition of the upper limb. Based on the characteristics of human walking symmetry, an adaptive adjustment strategy is proposed, that is, the stride length and stride frequency of the exoskeleton are adjusted in real time according to the change of the joint angle of the healthy leg, which makes full use of the information of the healthy leg and improves the enthusiasm of the hemiplegic patients.
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