Supercharge Your Innovation With Domain-Expert AI Agents!

Adaptive robust force control method and device for underactuated support leg assisted exoskeleton

A control method and technology of supporting legs, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problem of weak system robustness, achieve strong application value, overcome strong coupling of multiple joints and model uncertainty, Lightweight effect

Active Publication Date: 2022-02-22
HEFEI UNIV OF TECH
View PDF7 Cites 0 Cited by
  • 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 strong, the present invention provides an adaptive robust force control method and device for the underactuated support leg power-assisted exoskeleton

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Adaptive robust force control method and device for underactuated support leg assisted exoskeleton
  • Adaptive robust force control method and device for underactuated support leg assisted exoskeleton
  • Adaptive robust force control method and device for underactuated support leg assisted exoskeleton

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0118] 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.

[0119] 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

[0195] 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

[0197] 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.

[0198] 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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an adaptive robust force control method and device for an underactuated support leg assisting exoskeleton. The control method includes: establishing a physical model and converting it into a state equation; the physical model includes a human-machine interface model, a motion model, and a complete constraint model; obtaining the reference displacement of the underactuated support leg assisting the exoskeleton; obtaining the actual angle value of the exoskeleton and the back The actual displacement at the contact point; the actual displacement and the reference displacement are used as input, and the output of the lower position tracking controller is the motor driving torque; the motor driving torque is converted into the output torque of the control current to control the motor, and the underactuated support legs are driven to assist the exoskeleton of each joint rotation. In the case where the number of motors is less than the number of degrees of freedom of exoskeleton movement, the present invention effectively overcomes the influence of multi-joint strong coupling and model uncertainty of the under-actuated support leg power-assisted exoskeleton, and realizes the good follow-up of the power-assisted exoskeleton to human movement. and boosting effect, with strong application value.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
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
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com