中文摘要：

助行外骨骼机器人是一种帮助老年人和下肢不便的残疾人扩展行走能力的助力装置.提出一种基于数字信号处理（digital signal processing,DSP）系统的步态控制方法,首先,将连续步态数据离散处理后的结果作为DSP系统的输入,通过执行机构实现机器人的步态行走;然后,在每个步态周期结束之后,通过编码器对步态角度实时采样;最后,控制系统对反馈数据处理后实现步态误差的周期补偿.通过样机试验验证上述方法,得到较好的结果.

英文摘要：

The exoskeleton robot is a health-aid device for the elderly and handicapped to walk.This paper presents a method of gait pattern control for exoskeleton robots based on digital signal processing（DSP）.It converts the continuous gait pattern into discrete,and sends it to the input of a DSP system in order to realize robot gait patterns through actuators.At the end of each gait cycle,the encoder collects the angle information of the gait.The control system then processes feedback data and compensates for the gait error periodically.The described method is verified with a prototype with satisfactory results.