下肢柔性助力外衣的工效学设计与步态预测

In order to enhance the motor function of the lower limbs, a flexible and functional Exosuit was developed, which covered the lower limbs of the human body and was used as the terminal effector of the assist system which assisted the flexion of the hip joint. At the same time, an external drive system with force position hybrid control was developed, and the prototype of the flexible lower limb assist Exosuit was preliminarily built. Based on IMU, an adaptive gait detection algorithm was proposed, and the detection frequency was adaptive to the speed of human movement to realize efficient detection of gait information. According to the detected information, the prediction algorithm of "Newton+triple exponential smoothing" was proposed to predict human lower limbs movements in real time. The results show that the functional Exosuit has high stiffness and good wear comfort, and it meets the design requirements of the functional Exosuit. Moreover, "Newton+triple exponential smoothing" prediction algorithm can predict the hip angle after 50 ms in real time and the forecasting process is stable, and the prediction curve is smooth and accurate during human walking, which meets the requirement of gait prediction and lays a partial foundation for the study of lower limb assist.