WITHDRAWN: The optical multi-camera based motion Analysis of Walking Attitude Stability of Lower Limb Exoskeleton Robot using movement image segmentation

Abstract

Abstract Aiming at the stable walking problem of lower limb exoskeleton robot, the instability mechanism of the robot during walking is analyzed based on the zero-moment point theory. It is found that the zero-moment point theory has certain limitations in a complete walking cycle. Based on this, the stability criterion of the biped projection polygon method is proposed, and the stable polygon in the walking process is established. The segmentation method is used to divide the stable polygon of each pose into several triangles, and the point Zero Moment Point (ZMP) law changes of zero-moment in a walking cycle is analyzed, qualitatively determine the dynamic stability characteristics of the human-machine system. Based on the shortest distance stability margin, the concept of instability rate is proposed. Based on several stable triangles, the dynamic stability characteristics are quantitatively calculated. The optical multi-camera motion capture system, which is a multi-media measurement technology, is used to collect the gravity center data of the human-machine system in the course of walking. The multi-media technology is used to process the data and provide the test data.The experimental results show that by calculating the stability criterion and instability rate of the biped projection polygon method are obtained, more accurate expression of the stability characteristics of the human-machine system in the walking posture motion cycle can be expressed.