Exoskeleton robot system and kinematics extremity detection-based control method

TLDR: In this article, an exoskeleton robot system and a kinematics extremity detection-based control method are described. But the method is not suitable for the detection and control of the human body.

Abstract: The invention discloses an exoskeleton robot system and a kinematics extremity detection-based control method, and relates to an exoskeleton robot system and a control method to solve the problems that an accurate control effect cannot be achieved by the traditional electromyographic signal detection method for assisting in improving the walk of a human body, and man-machine interaction performance is low and an effective control method is lacked in the aspect of resisting self weight in the process of assisting in doing walk of the human body. The exoskeleton robot system comprises an upper body back, a left leg and a right leg; the left leg and the right leg respectively comprise a hip driving system, a knee driving system, a foot wearing system and a binding device; the exoskeleton robot system also comprises insole plates, a back detection shell, a nine-axis flight attitude measurement module, an industrial control computer, two thin film pressure sensors, two first angle sensors, two second angle sensors, two three-axis inclination sensors and three sets of three-dimensional contact force detection device. The exoskeleton robot system and the method are used for assisting in walking and performing detection and control of a moving posture of the human body.