Experimental research on follow-up control of lower limb exoskeleton robot
Conference: ISMSEE 2022 - The 2nd International Symposium on Mechanical Systems and Electronic Engineering
02/25/2022 - 02/27/2022 at Zhuhai, China
Proceedings: ISMSEE 2022
Pages: 5Language: englishTyp: PDF
Authors:
Zhou, Xiong; Yu, Zhipeng (Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China & University of Science and Technology of China, Hefei, China)
Chen, Danhui; Ye, Xiaodong (Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China)
Abstract:
This paper designs a motor-driven exoskeleton robot for lower limbs. According to the mechanical structure of the lower limb exoskeleton robot, the hardware and software systems of the robot were designed, and the dynamics model of the exoskeleton was constructed. And a follow-up control strategy based on minimizing human-computer interaction force was proposed. The parameters of Kp and Kd in PD controller are determined by a lot of experiments and engineering setting method. The experimental results show that when the follow-up control mode is turned on, the designed followup control strategy has a good effect, and effectively reduces the human-computer interaction force.