Affiliation:
1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
2. Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou 313001, China
Abstract
The series elastic actuator (SEA) is generally used as the torque source of the exoskeleton robot for human–robot interaction (HRI). In this paper, an impedance control method for lower limb exoskeleton robots driven by SEA is presented. First, considering the low-frequency vibrations generated by the lower limb exoskeleton robot during walking, the displacement generated by the robot is regarded as an external disturbance to the SEA motor. An SEA structure with negative stiffness structure (NSS) is designed to achieve vibration isolation in the low-frequency excitation region. Second, the dynamics model of the SEA-driven exoskeleton robot system is proposed, and the impedance control strategy is integrated into the proposed system. In addition, the numerical responses of the vibration-isolation system in both time and frequency domains are given, and the designed NSS is designed to achieve vibration isolation. The amplitude-frequency responses of the system are obtained. The harmonic balance (HB) method is used to give the analytical solution of the designed negative-stiffness isolation system, and the effects of different characteristic parameters on the isolation system are analyzed. Moreover, the stability of the SEA-driven exoskeleton impedance control system is demonstrated using the Lyapunov method. Finally, numerical simulations are carried out in order to show the effectiveness of the control method.
Funder
National Natural Science Foundation of China
Subject
Control and Optimization,Control and Systems Engineering
Cited by
3 articles.
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