Design of measurement and control system for walking exoskeleton robot
                                                                               MA Xufeng, WANG Ying
                     (Faculty of Mechanical Engineering & Automation, Zhejiang SciTech University, Hangzhou 310018, China)

Abstract: Aiming at the inconvenient walking problems of the handicapped and the elderly, the 3D model design and production, sole pressure detection, multisensor data fusion, etc. were studied, and building the sensor system , algorithms for detecting and determining the intent of human walking were summarized. Finally, an assisted walking exoskeleton robot system based on STM32 ARM CortexM3 core MCU technology , etc. were proposed. And the identifying the intent efficiency and the assisted walking effect test were performed.The results indicate that the system can detect the user's physical movement parameters in real time and store them, and can realize multiple functions such as intelligent detection, intention recognition, and walking assistance. The preset gait trajectory algorithm can be used to assist walking. The system is comfortable to wear, responsive, reliable.

Key words: exoskeleton robot; multisensor fusion; walk training; identify the intent; preset gait trajectory algorithml