Research on Impedance Self-adjusting Control of Lower Extremity Exoskeleton during Support Phase Based onHuman Motion Ability

doi:10.3969/j.issn.1000-1093.2020.06.017

Abstract

Abstract: To solve the problem of that the impedance control of lower extremity exoskeleton during the support phase is not humanoid and its flexibility is not enough, the impedance self-adjusting control method of lower extremity exoskeleton during the support phase based on human motion ability is studied. The stiffness characteristics of human lower limber in different sub-phases of support phase were measured through the stiffness characteristic test, and the rule of non-linear change between exoskeleton impedance and actuator impedance was analyzed. An impedance self-adjusting control of lower extremity exoskeleton during support phase based on human motion ability was designed. The accurate implementation of impedance self-adjusting is ensured after gravity compensation and system friction identification. From simulation and experiment, it is found that the impedance self-adjusting method could ensure the exoskeleton’s motion to follow the preset displacement curve well and meet the flexibility requirements of different sub-phases. The research work in this paper contributes to the human-machine coupling between human and exoskeleton and the exoskeleton compliance control of the whole walking gait.Key

Key words: lowerextremityexoskeleton, supportphase, impedanceself-adjustmentcontrol, humanmotionability, man-machinecoupling

CLC Number:

TP242.3

CHEN Jianhua， LI Ye， WANG Qi， MU Xihui. Research on Impedance Self-adjusting Control of Lower Extremity Exoskeleton during Support Phase Based onHuman Motion Ability[J]. Acta Armamentarii, 2020, 41(6): 1201-1209.

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第41卷第6期2020 年6月
兵工学报ACTA ARMAMENTARII
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