Design of Rehabilitation Control Method for Lower Extremity Exoskeleton

Abstract

In order to obtain rehabilitation of lower extremity exoskeleton robot, control method and gait trajectory are studied and designed. In the control method, the variable structure compensation control method is adopted according to the characteristics of the driving component, and the control results are verified by simulation. As for the gait path planning, we use the CPG oscillator model to generate the oscillatory curve and adjust the angle of the joint by parameter adjustment. Finally, the simulation proves the feasibility of the control method and gait planning, which lays the foundation for the further design and optimization of the lower extremity exoskeleton.