Adaptive robust force control of an underactuated walking lower limb hydraulic exoskeleton

Author:

Chen Shan12ORCID,Zhang Heng12,Han Tenghui12,Dong Fangfang13,Liu Haijun12,Han Jiang12

Affiliation:

1. School of Mechanical Engineering, Hefei University of Technology, China

2. Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, China

3. HMB Research Institute of Automation and Intelligent Equipment, China

Abstract

This paper presents an adaptive robust interaction force control algorithm for an underactuated walking lower limb hydraulic exoskeleton. In order to deal with the problem of passive joints (less of control inputs), holonomic constraints from the wearer are considered in system dynamics, which help transform the underactuated exoskeleton dynamics into fully actuated dynamics in Cartesian space. Based on the established dynamic model, adaptive robust interaction force controllers are presented both for the phase of double leg support and single leg support to effectively deal with multiple walking phases, negative effect of high-order nonlinearities of hydraulic systems as well as various model uncertainties and external disturbances. An additional torque allocation method is proposed to deal with the over-actuated characteristic in double leg support phase. Comparative simulations are carried out. The results demonstrate that the proposed force controller can achieve precision and strong robust interaction force control performance to load change and variation of the human trajectory.

Funder

Fundamental Research Funds for the Central Universities of China

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Instrumentation

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3