Abstract
Admittance Control of Four-link Bionic Knee Exoskeleton with Inertia Compensation
Highlights
Recent years have seen the proliferation of exoskeletons in military, medical aid and disability rehabilitation, etc
This paper proposes a control algorithm based on the admittance principle for the motion of the four-link bionic knee exoskeleton
The simulation results show that the relative error of the joint angle between the operator and the exoskeleton was less than 5% at normal swinging frequency, and the interaction force between the manipulator and the exoskeleton was within ±0.5 N
Summary
Recent years have seen the proliferation of exoskeletons in military, medical aid and disability rehabilitation, etc. As a bionic mechanical system, the exoskeleton can assist human movement by enhancing the operator's limb strength, making it more energy-efficient to move articulations. Extended from impedance control, the admittance control is achieved through a force outer ring and a position inner loop [14] In this method, the operatortool interaction is transformed into the desired trajectory of the exoskeleton by the admittance model. An asymmetric exoskeleton for above-knee amputees is presented and the admittance control study of its four-link bionic knee is focused, which is more complex and harder to control than the uniaxial knee. The admittance model for the four-link bionic knee was established by the equivalent method, and used to transform the operator-tool interaction into the desired trajectory of the exoskeleton. Intelligent lower limb prosthesis and exoskeleton mechanical legs achieve mechanical integration through the upper knee connector.
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