首页|A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons

A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons

扫码查看
原文链接
  • 万方数据
Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.

Hierarchical controlActive power-assistExoskeleton robotsDynamics feedforwardForce distributionFeedback compensation

Jing Deng、Wenzheng Jiang、Haibo Gao、Yapeng Shi、Mantian Li

展开 >

State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China

Shenzhen Academy of Aerospace Technology,Shenzhen 518063,China

Faculty of Computing,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China

Institute of Intelligent Manufacturing Technology,Shenzhen Polytechnic University,Shenzhen 518055,China

展开 >

2024

10.1007/s42235-024-00561-z

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(5)