A real-time stable-control gait switching strategy for lower-limb rehabilitation exoskeleton.

Abstract

Switching different gait according to different movements is an important direction in the study of exoskeleton robot. Identifying the movement intention of the wearer to control the gait planning of the exoskeleton robot can effectively improve the man-machine interaction experience after the exoskeleton. This paper uses a support vector machine (SVM) to realize wearer's motion posture recognition by collecting sEMG signals on the human surface. The moving gait of the exoskeleton is planned according to the recognition results, and the decoding intention signal controls gait switching. Meanwhile, the stability of the planned gait during the movement was analyzed. Experimental results show that the sEMG signal decoding human motion intentional, and control exoskeleton robot gait switching has good accuracy and real-time performance. It helps patients to complete rehabilitation training more safely and quickly.