Abstract
According to the characteristics of human gait and the requirements of power assistance, locomotive mechanisms and electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which the miniaturization and lightweight of driving system are realized. The kinematics of the robot is analyzed and verified via the typical movements of the exoskeleton. In this article, the simulation on the power of joints during level walking was analyzed in ADAMS 2016, which is a multibody simulation and motion analysis software. Motion ranges and driving strokes are then optimized. A proportional integral derivative (PID) control method with error estimation and pressure compensation is proposed to satisfy the requirements of joints power assistance and comply with the motion of human lower limb. The proposed method is implemented into the exoskeleton for assisted walking and is verified by experimental results. Finally, experiments show that the tracking accuracy and power-assisted performance of exoskeleton robot joints are improved.
Highlights
Walking assistants employed for joints comprise lower limb exoskeleton robots; these robots help boost human motion by utilizing intelligent decision making
We proposed the mechanism of collaborative walking assistance and designed the electrohydraulic servo driving system through simulation
We showed that the stroke of the joint driving could perform most actions, including squat, sit down, and level walking
Summary
Walking assistants employed for joints comprise lower limb exoskeleton robots; these robots help boost human motion by utilizing intelligent decision making. Mechanical design and the driving of joints for lower exoskeleton robot are important studies that focus on improving tracking errors and power-assisted level walking. A PID control method of exoskeleton robot joints based on error estimation and pressure compensation is proposed to improve tracking accuracy and smoothness for walking assistance. Human walking occurs in the sagittal plane with a wide range of motion and demanding for driving power of the hip joint and driving torque of the knee joint. According to the characteristics of human lower limbs and exoskeleton joint mechanism, there is only one driving DOF in hip and knee joints,.
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