Research on exoskeleton compliance control strategy based on dual interaction torque split phase control method.

Abstract

Human gait pattern recognition and compliance control are key technologies for achieving high coordination and assistance between exoskeleton robots and human movements. In order to improve the adaptability of exoskeleton robots to the human body, this paper proposes an exoskeleton compliance control strategy based on dual interaction torque phase separation control method. A support phase swing phase split control strategy based on dual interaction torque is proposed. Utilize the interaction force of human joints and adopt a model-based method to control the support phase. By utilizing the interaction force of exoskeleton joints and using a torque closed-loop method to control the swing phase, a multi-state control method of motion is achieved. A lower limb exoskeleton knee joint testing platform is built to verify the proposed human gait recognition The effectiveness of human-machine interaction force identification and human-machine coupling system compliance control technology. The proposed control method can effectively adjust joint torque, enabling the exoskeleton robot to maintain balance and stability during the entire walking phase.