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Volume 41 Issue 6
Jun.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(6): 1019-1025.
LIU Difei, TANG Zhiyong, PEI Zhongcaiet al. Swing motion control of lower extremity exoskeleton based on admittance method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(6): 1019-1025. doi: 10.13700/j.bh.1001-5965.2014.0462(in Chinese)
Citation: LIU Difei, TANG Zhiyong, PEI Zhongcaiet al. Swing motion control of lower extremity exoskeleton based on admittance method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(6): 1019-1025. doi: 10.13700/j.bh.1001-5965.2014.0462(in Chinese)
shu

Swing motion control of lower extremity exoskeleton based on admittance method

doi: 10.13700/j.bh.1001-5965.2014.0462

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 28 Jul 2014
  • Publish Date: 20 Jun 2015
    Abstract
  • To solve the problem of the pilot motion intent's identification and tracking during the swing motion of lower extremity exoskeleton, a control algorithm based on admittance method was proposed at first. This control method used the admittance characteristics between the force and velocity of moving object. And the interaction force between pilot and lower extremity exoskeleton was converted into the desired motion trajectories via the reasonable design of admittance parameters. Then the traditional control was employed to track these trajectories accurately. Finally the coordinated movement of pilot and exoskeleton was achieved. The human-machine system model including interaction force information was established and the simulations were conducted according to the system model. The results show that the interaction force between pilot and exoskeleton is reduced by 85% compared with the unpowered exoskeleton under the normal swing frequency, and the accurate tracking to pilot's motion trajectories is implemented successfully with the error ranged from -0.3° to 0.3°.

     

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