Author:
Han Yali,Zhu Songqing,Zhou Zhou,Shi Yu,Hao Dabin
Abstract
SUMMARYA multimodal actuator was proposed to achieve a more agile power-assisted exoskeleton in uncertain complex walking environments. A power-assisted knee exoskeleton prototype based on a multimodal actuator was constructed. With this multimodal actuator, several modes of operation in the power-assisted knee exoskeleton during a motion cycle are actuated, including series elastic actuation, stiff position control, and energy storage and release. Also, a control strategy for power-assisted knee exoskeleton motion control based on a state machine is developed. The ability of the power-assisted knee exoskeleton to follow human motion was tested, and the results showed that the angle error of the knee exoskeleton followed the human motion is not more than 0.4˚, and the response time error of the knee exoskeleton followed the human motion is not more than 0.2 s.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
8 articles.
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