A Method for Adaptive Robust Cascaded Force Control of Single-Joint Assisted Exoskeleton

Abstract

The invention discloses an adaptive robustness cascading force controlling method for a single-joint powered exoskeleton. The cascading force controlling method is sued for aiming at problems of force increasing and force following in a hydraulic cylinder driven single-joint powered exoskeleton. An upper-layer controller and a lower-layer controller are arranged. A reference track of the single joint is generated through the upper-layer controller, and the lower-layer controller realizes tracking for the reference track. According to the adaptive robustness cascading force controlling method, when the powered exoskeleton bears a heavy object, a man-machine interaction force is minimized for realizing powering and movement along with a person. An adaptive robustness control algorithm (ARC) is used for designing the upper-layer controller and the lower-layer controller, thereby effectively an influence of uncertainty of a single-joint powered exoskeleton model, realizing a good following effect and a good powering effect of the powered exoskeleton to the motion of a person, and obtaining a relatively high application value.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for adaptive robust cascade force control of a single-joint assisted exoskeleton. Background technique [0002] Soldiers in the army often need to carry heavy loads for long-distance walking or combat. Overweight loads often cause certain damage to the soldiers' bodies. In this context, it is necessary to develop a Exoskeleton equipment; In scientific research, fire rescue and other fields, scientific research personnel and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, field combat, mountaineering expeditions, etc. Traditional wheeled vehicles are difficult to operate in these special areas. occasions come into play. In addition, exoskeletons can also be used for cargo loading and unloading in warehouses to reduce the labor intensity of porters. The combination of exoskeleton and human can adapt to the unstructured environmen...

AI Technical Summary

Problems solved by technology

The characteristic of the power-assisted exoskeleton is that it requires collaboration with the wearer in an unstructured environment, which requires researchers to solve the highly coordinated human-machine integration problem in an unstructured environment, including effective and reliable human-computer interaction issues. The rapid response to human motion intentions, the lightweight and flexible bionic structure design, the safety of the man-machine system, etc. These technical issues are still in the initial stage of exploration and immature, and in-depth research is still needed

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