Abstract

In this article, a simple prototype and control system of a lower limb exoskeleton driven by stepper motors was proposed. To study kinematic parameters of the device, a general, three-dimensional simulation model of the exoskeleton was developed. Moreover, a gait pattern was modeled for hip, knee, and ankle joints. It represents sagittal plane angular positions of joints during normal gait and consists of three piecewise-defined sine-square-based functions. It is based on the experimental gait data recorded with an optoelectronic motion capture system for a healthy subject walking on a treadmill. Although the developed pattern is intended to be implemented in a control system of a lower limb exoskeleton for gait rehabilitation, it can be used to control bipedal robots as well. Last but not least, the control approach was tested with the exoskeleton prototype.

摘要

在本文中，提出了一种由步进电机驱动的下肢外骨骼的简单原型和控制系统。为了研究设备的运动学参数，开发了外骨骼的通用三维仿真模型。此外，还为髋关节、膝关节和踝关节建模了步态模式。它表示正常步态期间关节的矢状面角度位置，由三个分段定义的基于正弦平方的函数组成。它基于使用光电运动捕捉系统记录的实验步态数据，用于在跑步机上行走的健康受试者。虽然开发的模式旨在用于步态康复的下肢外骨骼的控制系统，但它也可用于控制双足机器人。最后但并非最不重要的，