Abstract
The lower limb exoskeleton robot is capable of providing assisted walking and enhancing exercise ability of humans. The coupling human–machine model has attracted a lot of research efforts to solve the complex dynamics and nonlinearity within the system. This study focuses on an approach of gait trajectory optimization of lower limb exoskeleton coupled with human through genetic algorithm. The human–machine coupling system is studied in this article through multibody virtual simulation environment. Planning of the motion trajectory is carried out by the genetic algorithm, which is iteratively generated under optimization of a set of specially designed fitness functions. Human motion captured data are used to guide the evolution of gait trajectory generation method based on genetic algorithm. Experiments are carried out using the MATLAB/Simulink Multibody physical simulation engine and genetic algorithm-toolbox to generate a more natural gait trajectory, the results show that the proposed gait trajectory generation method can provide an anthropomorphic gait for lower limb exoskeleton device.
Highlights
The study of exoskeleton robots dates to the 1960s.1 The original research purpose is mainly to improve the carrying capacity of soldiers
The lower limb exoskeleton (LLE) robot can provide assisted walking or enhancing exercise ability, which has become an important branch in the field of exoskeleton research
The LLE chain is driven by we focus on the gait trajectory generation the reference joint trajectory
Summary
The study of exoskeleton robots dates to the 1960s.1 The original research purpose is mainly to improve the carrying capacity of soldiers. The study of exoskeleton robots dates to the 1960s.1. With the continuous development of robotics and bio-detection technology, the research of exoskeleton robots has made a breakthrough and some products have been commercialized.[2,3,4,5,6,7] As a wearable device that combines human intelligence with the robotic power of robots, its unique human–machine integrated control and design has attracted widespread attention from researchers all over the world. The lower limb exoskeleton (LLE) robot can provide assisted walking or enhancing exercise ability, which has become an important branch in the field of exoskeleton research. The LLE can be divided into three categories according to the scope of application. The first application focuses on gait rehabilitation, such as Lokomat,[5] ALEX,[8]
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