Abstract: 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.

Key words: digital signal processing (DSP), exoskeleton robot for walk-aid, gait pattern control