Fractional Admittance Control of Lower Limb Exoskeleton Based on Inverse Sliding Mode Algorithm
It is difficult to complete the standard gait training for the patients with movement disorder of lower limbs.In this paper,a frac-tional-order admittance control strategy based on inverse sliding mode algorithm is proposed to improve the flexibility of lower limb ex-oskeleton in rehabilitation training.Firstly,in order to simplify the lower limb exoskeleton system for further study,a two-link dynamic model was established in this paper.Based on Joseph-Louis Lagrange's method,the dynamic equations of hip and knee joints were estab-lished.In order to improve the flexibility of the robot,a fractional-order admittance control is designed,and a spring damping system is es-tablished to simulate the human-machine interaction force.Finally,this paper performs a simulation with MATLAB software.
ExoskeletonFractional orderInversionSliding mode control
万方数据
维普
