RECOGNITION METHOD OF HUMAN WALKING SPEED INTENTION FROM SURFACE ELECTROMYOGRAM SIGNALS OF PLANTAR FLEXOR AND WALKING SPEED CONTROL METHOD OF A LOWER-LIMB EXOSKELETON ROBOT

摘要

Provided is a walking assist robot for lower body walking of a walking trainee comprising: a joint angle signal measuring unit which is disposed at a joint of the walking trainee; an electromyogram signal measuring unit disposed at the ankle joint extension related muscles of the walking trainee; a plantar pressure signal measuring unit disposed at the plantar of the trainee; and a control unit which recognizes an walking speed intention of the walking trainee by recognizing and processing the signals measured by the joint angle signal measuring unit, the electromyogram signal measuring unit, and the plantar pressure signal measuring unit. The control unit controls the walking speed of the walking assist robot according to the walking speed intention of the walking trainee.