ALGORITHM FOR AUTOMATING THE MOVEMENT MODE CHANGE OF A LOWER LIMB REHABILITATION EXOSKELETON USING ROBOTIC OPERATING SYSTEM
The introduction of high-tech robotic complexes operating in biofeedback is apriority in the motor rehabilitation of patients with lesions of the central nervous system all over the world, especially the exoskeleton robots for the lower limbs which offer the potential to restore ambulation to individuals with paraplegia due to spinal cord injury. However, exoskeletons often rely on preprogrammed gait, initiated by switches, sensors, and/or EEG triggers. Users (pilots) can exercise only limited independent control over the trajectory of the feet, the speed of walking, and the placement of feet to avoid obstacles. In this paper, the simulation of the movement of the exoskeleton lower limbs for rehabilitation using the Robot Operating System (ROS) is presented. Using Gazebo, the model of the exoskeleton is described using Extensible Markup Language (XML) programming in the Unified Robot Description Format (URDF). More over, this work proposes a special algorithm to automate the change mode of the movement of the exoskeleton depending on an external sensor.