This paper presents a wearable exoskeleton robot system to realize walking assist function, which oriented toward the patients or the elderly with the mild impairment of leg movement function, due to illness or natural aging. It reduces the loads of hip, knee, ankle and leg muscles during walking by way of weight support. In consideration of the characteristics of the psychological demands and the disease, unlike the weight loss system in the fixed or followed rehabilitation robot, the structure of the proposed exoskeleton robot is artistic, lightweight and portable. The exoskeleton system analyzes the user's gait real-timely by the plantar pressure sensors to divide gait phases, and present different control strategies for each gait phase. The pressure sensors in the seat of the exoskeleton system provide real-time monitoring of the support efforts. And the drive control uses proportion-integral-derivative (PID) control technology for torque control. The total weight of the robot system is about 12.5 kg. The average of the auxiliary support is about 10 kg during standing, and it is about 3 kg during walking. The system showed, in the experiments, a certain effect of weight support, and reduction of the pressure on the lower limbs to walk and stand.
面向因病痛或自然衰老等原因腿部运动功能受到轻度影响的患者或老年人，本文提出了一种可穿戴外骨骼机器人系统，通过体重支撑的方式减轻双腿在行走过程中对髋、膝、踝关节和腿部肌肉的负载，以实现行走辅助的功能。考虑到使用人群的心理诉求和病症特点，有别于固定式或跟随式康复机器人上配有的减重系统，本文提出的外骨骼机器人结构美观，轻巧便携。系统通过足底压力传感器实时对使用者的步态进行分析，通过步态相的划分，针对各步态相提出不同的控制策略。通过座椅上的压力传感器实时监测外骨骼提供支撑力度的大小，且驱动控制使用比例-积分-微分 (PID) 控制技术进行力矩控制。机器人系统总重 12.5 kg，站立时平均辅助支撑约 10 kg，行走中平均辅助支撑约 3 kg，起到了一定的体重支撑效果，减轻了行走和站立时对下肢的压力。.
Keywords: exoskeleton; gait analysis; proportion-integral-derivative control; weight support.