Motion Path Planning of Wearable Lower Limb Exoskeleton Robot Based on Feature Description

Wearable lower extremity exoskeleton robot is a kind of training equipment designed for the disabled or powerless in extremity. In order to improve environmental adaptability and better meet use habits patients, it necessary plan design movement path, path planning model wearable based on feature description proposed, which describes objects with different wearing frequencies intensities. Taking wearer's natural walking gait as constraint quantity control object model, spatial structures such hip joint, knee joint ankle are adopted, traditional single-degree-of-freedom rotating pair replaced by four-bar mechanism, improves bionic performance joint. Combining algorithm an error compensation method iterative least square adopted identify geometric parameters. The identification moving constructed, adaptive strong coupling tracking realized through distance results. simulation test results show that cooperative positioning reduced torque compensated real time using this limb robot, makes obtain effect enhance stability mechanism.