Lower Limbs Exoskeleton Control System Based on Intelligent Human-Machine Interface

Abstract

In this article, we present an intelligent human-machine interface designed to control the medical robotic exoskeleton of the lower limbs “Remotion”. Intelligent bimodal interface combines tools of contactless voice control, as well as contact sensor-based control on mobile devices. The authors argue that the use of intelligent techniques of interaction between the user and the exoskeleton increases the level of ergonomics as well as effectiveness of its use in medical rehabilitation practice due to an intuitive and natural way of human-machine communication and control. The salient features of the proposed and developed system are automatic voice command recognition, conversion audio signal into text data, remote control and remote supervision of the exoskeleton through a PC, and active and informative feedback with the user, securing safety during rehabilitation sessions. The design of the interface is shown in the paper in details, outlines of engineering solutions applied for this exoskeleton are provided as well. Despite the existence of conceptually similar devices in Russia, the presented exoskeleton differs by the presence of an intelligent user interface, which significantly improves the ergonomics of the system. Another feature is a total modularity of the device. Such a solution greatly facilitates the maintenance of the exoskeleton and provides a range of adjustment opportunities.