A lower limb exoskeleton control method

A control method and exoskeleton technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as difficult to achieve expected results, difficult to use, etc., and achieve strong robustness and anti-interference ability, easy to use, and control accuracy. high effect

Active Publication Date: 2022-04-26
HEBEI UNIV OF TECH
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Problems solved by technology

The design of the lower extremity exoskeleton controller must take into account the influence of the above-mentioned uncertain interference factors in order to maintain the stability of the system. Therefore, only model-based controllers are difficult to use in exoskeleton robots, and it is difficult to achieve the expected results

Method used

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  • A lower limb exoskeleton control method
  • A lower limb exoskeleton control method
  • A lower limb exoskeleton control method

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Experimental program
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Embodiment 1

[0154] Use MATLAB / Simulink to simulate and analyze the fuzzy control algorithm. In the embodiment, an adult man with a height of 175cm and a weight of 65kg is the analysis object. The inertia parameters of each segment of the lower limbs of the human body are obtained from the two national standards of Human Body Size. The thigh length is 0.45m, the mass is 8.4kg, and the center of mass is 0.36m. The length of the calf is 0.38m, the mass is 2.1kg, and the position of the center of mass is 0.22m.

[0155] The parameters of the controller are designed as c=diag{5,10}, β=diag{5,10}.

[0156] Depend on Figure 6 It can be seen that the output angle of the exoskeleton knee joint can accurately track the angle curve of a normal person when walking; Figure 7 It can be seen that the initial error of the output angular velocity of the exoskeleton knee joint is relatively large, but it can quickly track the expected output; Figure 8 It can be seen that the output angle of the hip ...

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Abstract

The invention discloses a lower limb exoskeleton control method, which includes collecting kinematic data of the lower limbs of a subject; establishing a lower limb exoskeleton dynamic model; designing a nonlinear integral sliding mode surface; designing a fuzzy sliding mode controller to obtain fuzzy sliding mode control law. This method adopts the Euler-Lagrangian method to establish the dynamic model of the lower extremity exoskeleton, and then in order to eliminate the chattering phenomenon and the Windup effect caused by the integral term in the sliding mode control, the sliding mode variable structure controller Based on this, a nonlinear potential energy function is introduced to replace the traditional integral sliding mode surface. At the same time, in order to overcome the interference caused by modeling errors, signal noise and external disturbances in the modeling process of the lower extremity exoskeleton, the fuzzy sliding mode controller is designed by using the approximation characteristics of the fuzzy system to obtain satisfactory control performance of the lower extremity exoskeleton .

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to a lower limb exoskeleton control method. Background technique [0002] Population aging has become a worldwide problem. As the country with the largest population in the world, our country is not optimistic about the aging population. For the elderly and disabled patients whose lower limb motor function has begun to decline, the use of lower limb walking exoskeleton robots and intelligent assistance systems can enhance human leg muscle strength, increase walking time, reduce human energy consumption, and restore the lower limb motor function. Promoting good health is of great significance. [0003] The document with application number 201710208363.8 discloses a quasi-passive knee-ankle joint-coupled lower limb exoskeleton and its control method. The method judges the current lower limb movement state by measuring the plantar pressure, thereby controlling the exoskeleton to per...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/00
CPCB25J9/0006B25J9/163B25J9/1612B25J9/1648B25J13/00
Inventor 张燕李思宁王铭玥刘健卢宁
Owner HEBEI UNIV OF TECH
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