The invention provides a motion control method suitable for exoskeleton robots. By establishing a seven-link kinematics model, collecting exoskeleton-wearer system motion information based on a multi-sensor system, calculating the wearer's ground pressure center position, and designing an exoskeleton walking finite state machine, the wearer's walking motion intention and the state transitions in the walking finite state machine can be quickly, accurately and automatically recognized, effective and smooth motion assistance for paralyzed patients who have no perception and strength of the lowerlimbs is realized, the walking intention of the exoskeleton robot is automatically recognized and controlled, and the convenience and intelligence of using the exoskeleton robots are improved. At thesame time, by calculating the distance between the ankle joint of the front leg and the location of the crutches after the exoskeleton-wearer system moves forward with both crutches during the leg support period, the step length of the wearer under different walking conditions is determined, the exoskeleton joint motion reference trajectory is updated in real time, and real-time adjustment and control of the wearer's walking step length is realized.
Motion control method suitable for exoskeleton robots