The Four-stage Assisted Technology of Flexible Ankle Exoskeleton Robot Based on Force and Position Hybrid Control

doi:10.3969/j.issn.1000-1093.2021.12.020

Abstract

Abstract: The assistant strategy for lower extremity joints is a key factor influencing the assistant efficiency of exoskeleton robots. The exoskeleton robots during walking on level ground have been widely explored and proved to be effective. However，the performance of exoskeleton robots during walking on a slope has not been widely analyzed，and even the assistant characteristics of exoskeleton robots during walking on a slope has not been explored.An exoskeleton robot was developed to study the physiological characteristics and joint power characteristics of human during walking on a slope.A four-stage force-position hybrid control method for ankle assisted exoskeleton robot was proposed based on the rationale of human movement. A flexible ankle exoskeleton was deverloped based on the analysis，and the assisting efficiency testing experiment of the assistance torque and energy consumption was made. The results demonstrate that the exoskeleton robot can provide the assisted ankle joint torque of 7% and decrease the oxygen uptake by 3.5% during walking on a slope.

Key words: exoskeletonrobot, force-positionhybridcontrol, four-stageassistedtechnology, slopewalking, oxygenuptake

CLC Number:

TP242.3

LIU Yali， SONG Qiuzhi， ZHAO Mingsheng， ZHOU Nengbing， LIU Yue. The Four-stage Assisted Technology of Flexible Ankle Exoskeleton Robot Based on Force and Position Hybrid Control[J]. Acta Armamentarii, 2021, 42(12): 2722-2730.

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