Exoskeleton

This research focuses on developing an intelligent exoskeleton assistive device, encompassing the design of the mechanism, control systems, and gait prediction algorithms. The exoskeleton features a multi-degree-of-freedom mechanism for a single leg, with the total weight of the entire structure kept under 16 kilograms to meet user requirements. In terms of algorithms, a fuzzy gait detection method and a self-tuning controller are developed, along with the innovative design of mechanomyogram (MMG) sensors, forming both static and dynamic micro-sensors. Additionally, Unity 3D software is used to create a virtual reality model of the exoskeleton, achieving integration between the virtual and real systems. This setup allows users to engage in both passive and active training during different stages of movement, with upper and lower controllers separately handling sensor data collection and sending commands to the exoskeleton's drive axes, thereby enabling autonomous mobility training for the user.