Application compliance auxiliary control method for variable stiffness exoskeleton

Abstract

The invention discloses a volunteer compliance auxiliary control method for a variable stiffness exoskeleton. The control method comprises the following steps: 1) firstly substituting a preprocessed surface electromyogram signal into a musculoskeletal model to calculate and obtain an estimated torque and stiffness of a human joint; 2) setting the auxiliary torque and rigidity of the exoskeleton according to the estimated human joint torque and rigidity; and (3) the torque and rigidity control of the exoskeleton joint is realized by utilizing the elastic characteristic of the variable-rigidity joint. According to the control method, the auxiliary torque of the exoskeleton can be effectively controlled according to the willingness of the user, and the rigidity can be adjusted in real time according to the movement behavior of the user; according to the torque assisting method, a reference track does not need to be set, an additional torque sensor is not needed either, and the assisting requirements of a user in different motion modes are met; the adaptive capacity of the exoskeleton to the environment can be improved through variable stiffness control, and the interaction flexibility of the exoskeleton and a user is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a voluntary compliance auxiliary control method for a variable stiffness exoskeleton. Background technique [0002] my country has entered an aging society, and the number of people with lower extremity motor dysfunction due to age-related diseases is increasing day by day. Lower extremity motor dysfunction has seriously affected their daily life and brought a huge financial and mental burden to their families. Exoskeleton robots are an exciting potential solution to help people with motor impairments return to their daily activities. [0003] Traditional exoskeleton robots are usually driven by a motor with a high reduction ratio and a reducer, which can achieve precise position control. However, it is difficult for users to back-drive the exoskeleton robot due to the high deceleration usually resulting in high back-drive impedance. Especially in the case of sensor failure, it is diffic...

AI Technical Summary

Problems solved by technology

The reference trajectory of the exoskeleton can be changed in real time according to the user's movement, but there is still a certain delay between the signal measured by the interactive force sensor and the user's movement intention, and there is an additional interaction force between the exoskeleton and the user.

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