Design and Research of Series Actuator Structure and Control System Based on Lower Limb Exoskeleton Rehabilitation Robot
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Published:2024-01-05
Issue:1
Volume:13
Page:20
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ISSN:2076-0825
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Container-title:Actuators
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language:en
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Short-container-title:Actuators
Author:
Zhao Chenglong123, Liu Zhen2, Zhu Liucun34, Wang Yuefei1
Affiliation:
1. School of Mechanical and Marine Engineering, Beibu Gulf University, Qinzhou 535011, China 2. Department of Integrated Systems Engineering, Nagasaki Institute of Applied Science, Nagasaki 851-0193, Japan 3. Advanced Science and Technology Research Institute, Beibu Gulf University, Qinzhou 535001, China 4. Research Institute for Integrated Science, Kanagawa University, Yokohama 259-1293, Japan
Abstract
Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction between humans and machines and achieve the goal of flexible driving, this paper addresses the shortcomings of traditional elastic actuators and designs a series elastic–damping actuator (SEDA). The SEDA combines elastic and damping components in parallel, and the feasibility of the design and material selection is demonstrated through finite element static analysis. By modeling the dynamics of the SEDA, using the Bode plot and Nyquist plot, open-loop and closed-loop frequency domain comparisons and analyses were carried out, respectively, to verify the effect of damping coefficients on the stability of the system, and the stiffness coefficient ks = 25.48 N/mm was selected as the elastic element and the damping coefficient cs = 1 Ns/mm was selected as the damping element. A particle swarm optimization (PSO)-based algorithm was proposed to introduce the fuzzy controller into the PID control system, and five parameters, namely the the fuzzy controller’s fuzzy factor (ke, kec) and de-fuzzy factor (kp1, ki1, kd1), are taken as the object of the algorithm optimization to obtain the optimal fuzzy controller parameters of ke = 0.8, kec = 0.2, kp1 = 0.5, ki1 = 8, kd1 = −0.1. The joint torque output with and without external interference is simulated, and the simulation model is established in the MATLAB/Simulink environment The results show that when fuzzy PID control is used, the amount of overshooting in the system is 14.6%, and the regulation time is 0.66 s. This has the following advantages: small overshooting amount, short rise time, fast response speed, short regulation time, good stability performance, and strong anti-interference ability. The SEDA design structure and control method breaks through limitations of the traditional series elastic actuator (SEA) such as its lack of flexibility and stability, which is very helpful to improve the output effect of flexible joints.
Funder
Special Fund for Bagui Scholars of the Guangxi Zhuang Autonomous Region Guangxi Higher Education Undergraduate Teaching Reform Project 2019 Research Initiation Program for Introducing High-level Talents to Beibu Gulf University Guangxi Key Laboratory of Ocean Engineering Equipment And Technology Key Laboratory of Beibu Gulf Offshore Engineering Equipment Technology Education Department of Guangxi Zhuang Autonomous Region
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