Self-adaptive robust force control method and device for under-actuated supporting leg assisting exoskeleton

A control method and technology of supporting legs, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve problems such as weak robustness of the system, and achieve overcoming the strong coupling of multiple joints, overcoming the influence of model uncertainty, and strong The effect of applying value

Active Publication Date: 2021-02-23
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problem that the system robustness performance of the existing underactuated exoskeleton control method is not

Method used

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  • Self-adaptive robust force control method and device for under-actuated supporting leg assisting exoskeleton
  • Self-adaptive robust force control method and device for under-actuated supporting leg assisting exoskeleton
  • Self-adaptive robust force control method and device for under-actuated supporting leg assisting exoskeleton

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Experimental program
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Effect test

Embodiment 1

[0119] see figure 1 , figure 2 as well as image 3 , this embodiment provides an adaptive robust force control method for an underactuated supporting leg-assisted exoskeleton, and the control method is used to control an underactuated supporting leg-assisted exoskeleton. The underactuated support leg power-assisted exoskeleton includes a foot 1, a first rod 2, a second rod 6, a knee joint motor 4, a knee joint reducer 5, a knee joint encoder 3, a back 10, a hip joint motor 8, Hip joint reducer 9, hip joint encoder 7, force sensor 11, back strap 12, waist strap 13 and real-time controller (not shown in the figure). Wherein, the knee joint encoder 3 and the hip joint reducer 9 are joint rotary encoders, and the back 10 is a backboard.

[0120] The foot 1 is used as the contact part of the underactuated supporting leg power-assisted exoskeleton and the ground, which can support the entire exoskeleton, and its function is similar to that of a human foot. The bottom end of the...

Embodiment 2

[0197] This embodiment provides an underactuated support leg power-assisted exoskeleton, which is similar to the underactuated support leg power-assisted exoskeleton in Embodiment 1, the difference is that the real-time controller in this embodiment directly executes the steps in Embodiment 1 The adaptive robust force control method enables each part of the exoskeleton to achieve good following and assisting effects on human motion.

Embodiment 3

[0199] This embodiment provides an adaptive robust force control device for an underactuated supporting leg assisted exoskeleton, which applies the adaptive robust force control method for an underactuated supporting leg assisted exoskeleton in Embodiment 1. Wherein, the control device includes an initialization module 1, an initialization module 2, an initialization module 3, a model building module, a reference displacement acquisition module, an actual displacement acquisition module, a conversion module and a following module.

[0200] The initialization module one is used to initialize the sampling period of the real-time controller, and the sampling period is between 10 and 20 milliseconds. The initialization module 2 is used to rotate the foot 1 to a horizontal position, rotate the first rod 2, the second rod 6 and the back 10 to a vertical position, initialize the knee joint encoder 3 and the hip joint encoder 7 and set the The encoder value is zeroed. The initializat...

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Abstract

The invention discloses a self-adaptive robust force control method and device for an under-actuated supporting leg assisting exoskeleton. The control method comprises the steps that a physical modelis established and converted into a state equation, wherein the physical model comprises a man-machine interface model, a motion model and a complete constraint model; the reference displacement of the under-actuated supporting leg assisting exoskeleton is obtained; the actual angle value of the exoskeleton and the actual displacement of the back contact portion are obtained; the actual displacement and the reference displacement are taken as input quantities, and the output of a lower-layer position tracking controller is taken as motor driving torque; and the motor driving torque is converted into output torque of control current control motors, and all joints of the under-actuated supporting leg assisting exoskeleton are driven to rotate. Under the condition that the number of the motors is smaller than the number of freedom degrees of exoskeleton movement, the influence of multi-joint strong coupling and model uncertainty of the under-actuated supporting leg assisting exoskeleton is effectively overcome, the good following and assisting effect of the assisting exoskeleton on human movement is achieved, and high application value is achieved.

Description

technical field [0001] The present invention relates to a control method of an exoskeleton in the field of wearable technology, in particular to an adaptive robust force control method for an underactuated supporting leg assisted exoskeleton, and also relates to an adaptive control method for an underactuated supporting leg assisted exoskeleton Robust force control device. Background technique [0002] The wearable lower limb assisted exoskeleton robot is an intelligent man-machine integrated device that imitates the structure of the lower limbs of the human body and enhances the wearer's walking durability, walking speed, and load-bearing capacity. aspect plays an important role. The combination of exoskeleton and human can adapt to an unstructured environment, has excellent flexibility, and can complete some complex tasks, which is unmatched by other completely mechanical devices. [0003] Since the full-drive exoskeleton system contains multiple drives, it has the probl...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1664B25J9/1602
Inventor 陈珊韩腾辉鹿牧野王子辛董方方韩江夏链
Owner HEFEI UNIV OF TECH
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