System and method for gait phase and terrain recognition of lower limb assisted exoskeleton

• Main Authors: QIU JING, CHENG HONG, HUANG JIACHENG, LI BIN, HE YULONG, GUO RAN, CHEN LUFENG
• Format: Patent
• Language: Chinese; English
• Published: 30.05.2023
• Subjects: ARTIFICIAL RESPIRATION; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; SURGERY

The invention discloses a gait phase and terrain recognition system and method for a lower limb power-assisted exoskeleton, and belongs to the technical field of lower limb power-assisted exoskeleton robot perception. The system comprises an inertia detection module, a sole pressure sensor module, a data acquisition and processing module and a central controller. According to the method, the gait cycle is divided by utilizing the collected inertial data, whether the gait cycle is correct or not is verified by utilizing the collected sole pressure data, then the hip joint and knee joint angles of a subject are calculated by utilizing the corresponding inertial data in the correct gait cycle, and finally the angle of the hip joint and the knee joint of the subject is calculated according to the defined kinematics constraint and the cost function. And the angle deviation of each joint angle is determined and calibrated through a minimum cost function, and gait phase and terrain recognition of the lower limb powe