Compliance Control Method of Exoskeleton Robot Assisted by Lower Limb Knee Joint Based on Gait Recognition

Song, Dingan; Qiang, Ligang; Liu, Yali; Li, Yangyang; Li, Lin

doi:10.1007/978-3-030-89095-7_72

Cited by 2 publications

(2 citation statements)

References 8 publications

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“…Intelligent control algorithm has a wide application prospect and can realize intelligent control and management of complex systems in various fields. For example, the intelligent control algorithm is applied to the field of industrial automation, which can carry out intelligent control of various equipment in the production process [35] . For example, in intelligent manufacturing, intelligent control algorithms can be used to control robots, automated assembly lines and other equipment to improve production efficiency and product quality.…”

Section: Application Of Intelligent Control Algorithm In Energy Manag...mentioning

confidence: 99%

Research on key technology and system application of energy management coupled with liquid cooling and intelligent control algorithm

Wang

2024

E3S Web Conf.

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With the continuous progress and innovation of science and technology, the demand and requirements for energy in modern society are getting higher and higher. The system application of liquid cooling and intelligent control algorithm coupling energy management can adapt to this demand and provide more efficient, accurate and intelligent energy management solutions. On the basis of a brief introduction to the current energy problems, the principle of liquid cooling technology and intelligent control algorithm are expounded, the design and key technologies of liquid cooling system and intelligent control algorithm are analyzed. The liquid cooling system based on fuzzy control is studied. The liquid cooling system based on fuzzy control can quickly and accurately respond to equipment temperature changes, avoid equipment damage due to overheating, and improve energy utilization efficiency and reduce energy waste. On the basis of a brief introduction to the current energy problems, this study describes the principle of liquid cooling technology and intelligent control algorithm, focuses on the design and key technologies of liquid cooling system and intelligent control algorithm, and studies the liquid cooling system based on fuzzy control. The liquid cooling system based on fuzzy control can quickly and accurately respond to equipment temperature changes, avoid equipment damage due to overheating, and can improve energy utilization efficiency and reduce energy waste.

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Section: Application Of Intelligent Control Algorithm In Energy Manag...mentioning

confidence: 99%

Research on key technology and system application of energy management coupled with liquid cooling and intelligent control algorithm

Wang

2024

E3S Web Conf.

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“…The underactuated lower limb exoskeleton system developed by Harbin Institute of Technology uses a single bowden wire to provide peak assistance of about 40Nm and 20Nm to the hip and knee joints, respectively, resulting in an average decrease of 10beat/min in the wearer's heart rate [9]. The ankle joint assisted exoskeleton robot developed by Beijing University of Technology uses a four stage assistance method to reduce human metabolism by about 2% [10][11]. Southeast University demonstrated a bidirectional rope driven exoskeleton robot in 2016, achieving a 42.3% reduction in activity on the wearable assist side [12][13].…”

Section: Introductionmentioning

confidence: 99%

Research on Assisting Control and Oxygen Metabolism Testing of Rope Driven Flexible Exoskeleton

Song,

Hu,

2023

Advances in Transdisciplinary Engineering

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In order to improve the human-machine collaborative comfort and assistance comfort of rope driven flexible assisted exoskeleton robots, research is conducted on the assistance control design and assistance performance of rope driven flexible assisted exoskeleton robots. This article proposes the use of inertial measurement units (IMUs) for real-time detection of human motion posture information, and by extracting features from human motion posture information, a human motion gait switching model is used to identify the phase of the motion gait. Then, based on the gait phase recognition structure, plan the timing and duration of assistance for the exoskeleton. Then, based on the transfer efficiency model of the load on the human skeleton, the assistance size of the exoskeleton is determined, and a force position hybrid control method is used to assist in controlling human motion, obtaining control commands. Finally, the assistance performance of the exoskeleton was verified through the evaluation of human exercise net oxygen uptake metabolism test. The experimental results show that under the conditions of a slope of 5°, a walking speed of 5km/h, and an external load of 25kg, the rope driven flexible assisted exoskeleton robot can reduce the net oxygen uptake metabolism of human movement by a maximum of 10.28%, a minimum of about 2.2%, and an average reduction of about 6.23%. The results demonstrate that rope driven flexible assisted exoskeleton robots have significant assistance effects on human motion.

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Compliance Control Method of Exoskeleton Robot Assisted by Lower Limb Knee Joint Based on Gait Recognition

Cited by 2 publications

References 8 publications

Research on key technology and system application of energy management coupled with liquid cooling and intelligent control algorithm

Research on key technology and system application of energy management coupled with liquid cooling and intelligent control algorithm

Research on Assisting Control and Oxygen Metabolism Testing of Rope Driven Flexible Exoskeleton

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