Design of Control System for Lower Limb Exoskeleton Robot

Abstract

The structure of the lower limb exoskeleton robot is a complex mechatronics system, but there are still some problems such as instability and complicated design. Therefore, it is significant to design an exoskeleton robot with light weight, stability, reliability and high integration. Based on the mechanical structure of the lower limb exoskeleton robot, this paper designs the hardware control system and software control system. The hardware control system takes the industrial computer as the core, the driver as the execution unit, and the CAN bus controller as the connection point, which highly integrates each hardware structure. The software control system has designed four modules: communication, data acquisition, human-machine interaction and control algorithm. The four modules are connected with each other and maintain independence, which is convenient for the expansion of the control algorithm program. Finally, the stability and effectiveness of the exoskeleton control system were verified by wearing the exoskeleton and collecting joint data.