Adaptive robust control method and device for underactuated hydraulic single-leg assisted exoskeleton

A technology of adaptive robustness and control method, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of weak system robustness, and achieve the effect of flexible layout, light weight and light weight

Active Publication Date: 2022-04-29
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 hydraulic exoskeleton control method is not strong, the present invention provides an adaptive robust control method and device for an underactuated hydraulic single-leg power-assisted exoskeleton

Method used

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  • Adaptive robust control method and device for underactuated hydraulic single-leg assisted exoskeleton
  • Adaptive robust control method and device for underactuated hydraulic single-leg assisted exoskeleton
  • Adaptive robust control method and device for underactuated hydraulic single-leg assisted exoskeleton

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Embodiment 1

[0166] see figure 1 , this embodiment provides an adaptive robust control method for an underactuated hydraulic single-leg power-assisted exoskeleton, and the control method is used to control an under-actuated hydraulic single-leg power-assisted exoskeleton. The underactuated hydraulic single-leg power-assisted exoskeleton includes the underactuated hydraulic single-leg power-assisted exoskeleton for control. The underactuated hydraulic single-leg power-assisted exoskeleton includes a foot 1, a first rod 2, a knee joint encoder 3, a knee joint hydraulic cylinder 4, a pressure sensor 5 in the lower cavity of the knee joint hydraulic cylinder, a second connecting rod 6, a knee joint Hydraulic cylinder upper cavity pressure sensor 7, hip joint encoder 8, base plate 9, hip joint hydraulic cylinder upper cavity pressure sensor 10, hip joint hydraulic cylinder lower cavity pressure sensor 11, hip joint hydraulic cylinder 12, knee joint electro-hydraulic servo valve 13 , hip joint ...

Embodiment 2

[0280] This embodiment provides an underactuated hydraulic single-leg power-assisted exoskeleton, which is similar to the under-actuated hydraulic single-leg power-assisted exoskeleton in Embodiment 1, the difference is that the real-time controller in this embodiment directly executes Embodiment 1 The self-adaptive robust force control method in the exoskeleton enables each part of the exoskeleton to achieve a good follow-up and assisting effect on human motion.

Embodiment 3

[0282] This embodiment provides an adaptive robust control device for an underactuated hydraulic single-leg power-assisted exoskeleton, which applies the adaptive robust control method for an under-actuated hydraulic single-leg power-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 servo valve control voltage acquisition module, a transformation module and a following module.

[0283] 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 backboard 15 to a vertical position, initialize the knee joint encoder 3 and the hip jo...

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Abstract

The invention discloses an adaptive robust control method and device for an underactuated hydraulic single-leg power-assisted exoskeleton. The control method includes: establishing a physical model; obtaining the reference displacement and the actual displacement; taking the actual displacement and the reference displacement as input quantities, and the output of the middle position tracking controller is the virtual expected joint driving torque; converting the expected joint torque into the expected hydraulic cylinder The output force takes the expected output force of the hydraulic cylinder and the actual output force of the hydraulic cylinder as input, and converts the flow rate into the driving voltage of the electro-hydraulic servo valve. Joint rotation. When the number of hydraulic cylinders is less than the number of exoskeleton motion degrees of freedom, the present invention effectively overcomes the influence of multi-joint strong coupling of underactuated hydraulic single-leg assisted exoskeleton, high-order nonlinearity of hydraulic drive and model uncertainty, and realizes The hydraulically assisted exoskeleton has a good following and assisting effect on human movement.

Description

technical field [0001] The present invention relates to a control method for an exoskeleton in the field of wearable technology, in particular to an adaptive robust control method for an underactuated hydraulic single-leg power-assisted exoskeleton, and also relates to an automatic control method for an under-actuated hydraulic single-leg power-assisted exoskeleton. Adapt to robust control devices. 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. Hydraulic actuators are ideally suited for compact and heavy-duty...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/16B25J9/1679B25J9/1602B25J9/1694
Inventor 陈珊韩腾辉鹿牧野封谟伟偶世龙冯佳劲董方方
Owner HEFEI UNIV OF TECH
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