The Controller Design of Lower-extremity Wearable Exoskeleton Robot

Abstract

Abstract The exoskeleton robot to assist load-carrying has received much attention in recent years. The work designs a novel control framework for a lower-limb power assist exoskeleton robot. In particular, the detailed design and verification of the mid-level controller for gait walking is carried out. By studying the characteristics of human-machine dynamics in different gait phases, the corresponding controller is designed to achieve optimal control, so as to achieve the compliant and coordinated control of human-machine system. At the same time, the designed controller can also greatly regulate the energy transfer between human and machine. Finally, the numerical simulation experiment is carried out in MATLAB/SIMULATION environment, and the simulation results verify the effectiveness of the control law.