Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Abstract

To meet the walking demand of people who is less able to exercise, a foot-wheel cooperation walking assistance robot is designed, a control method of human-robot coordination movement is proposed, and then the walking on-the-wheel system is realized. Firstly, the structure of the foot-wheel cooperation walking assistance robot is designed, the kinematics of human lower limbs is analyzed, and the movement relationship between the foot system and wheel system is established. Secondly, the control methods of the foot system and wheel system are studied respectively, composite control method is used to realize the function that the motion of the human foot is followed by the pedal. Based on the user’s walking information and the motion relationship between the foot system and the wheel system, the coordinated motion control of the foot system and the wheel system is realized. Finally, an experimental prototype of foot-wheel cooperation walking assistance robot is developed, then the foot-wheel cooperation walking assistance experiment is completed. Experimental results show that the function of walking on the wheeled system can be realized by the proposed human-robot coordination movement method.