Exoskeleton handicapped assisting robot gait phase shifting method based on logistic regression

The invention discloses an exoskeleton handicapped assisting robot gait phase shifting method based on logistic regression. The method is characterized in that three kinds of sensors are installed on an exoskeleton handicapped assisting robot, walking experiments are conducted by wearing the exoskeleton handicapped assisting robot after the threshold values of the sensors are set during gait phase shifting, dip angle, pressure and angle sensing data corresponding to gait shifting success and failure are recorded respectively and serve as training data, and then a gait phase shifting estimation function is obtained. In this way, gait phase shifting success and failure can be classified accurately, and supporting leg and swinging leg shifting timing during walking can be identified. By the adoption of the method, the gait phase shifting accuracy of the exoskeleton handicapped assisting robot is improved effectively.