Research on impact resistance and active–passive compliance control of rope-driven joint unit

Cao, Xin; Wu, Weiguo

doi:10.1007/s40430-021-03123-0

Cited by 2 publications

(1 citation statement)

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“…The lower limb exoskeleton compliance control is mainly divided into two categories, one is passive compliance control and the other is active compliance control. Passive compliance control is to install some cushioning devices (such as springs) on the exoskeleton to absorb or relieve the impact energy between the exoskeleton and humans during the movement [9,10]. Active compliance control means that the robot uses the force feedback information and adopts a certain control strategy to actively control the force [11].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy radial-based impedance controller design for lower limb exoskeleton robot

Zhang

Elsabbagh

2022

Robotica

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The lower extremity rehabilitation exoskeleton is mainly used to help patients with movement disorders complete rehabilitation training. For the human-machine interaction problem of the lower limb rehabilitation exoskeleton, a fuzzy radial-based impedance (RBF-FVI) controller is proposed in this study. A six degree of freedom (DOF) lower extremity rehabilitation exoskeleton was developed, and the human-machine coupling dynamics model was established. To realize the compliance control of the human-machine coupling system, a novel RBF-FVI controller is designed, which includes an inner-loop fuzzy position control module and an outer-loop impedance control module. The inner-loop fuzzy position control module is mainly used to achieve the tracking control of the desired training trajectory and position adjustment amount. The outer-loop impedance control module regulates the impedance parameters and compensates for the uncertainty terms. The superiority of the proposed controller in trajectory following is verified through simulation and comparison tests. The hardware test of the human-machine coupling system was carried out, and the test results showed that the subject and the exoskeleton system could realize a coordinated and smooth movement.

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Section: Introductionmentioning

confidence: 99%