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.
关键词
外骨骼/分数阶/导纳控制/反演法/滑模控制
Key words
Exoskeleton/Fractional order/Inversion/Sliding mode control
维普
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