Abstract
A sliding mode control algorithm based on proportional switching function was developed to make the lower limb exoskeleton more fit the human walking gait trajectory. It could improve the comfort of the exoskeleton wearer and enhance the reliability of the system. The three-dimensional mechanical model of the exoskeleton built using software SolidWorks was introduced to ADAMS and then the model parameters were set. The model was combined with the software MATLAB so that the human-machine cooperation control algorithm for lower limb exoskeleton based on ADAMS and Simulink co-simulation was developed. The simulation result was compared with the desired trajectory and the trajectory under PID control. The research discovered that the ability of trajectory tracking under the sliding mode control was much better than that under PID control. It provided an important theoretical basis for the research on human-machine cooperation control algorithm.
Highlights
Power-assisted lower limb exoskeleton is a kind of electromechanical device worn by a human operator
We proposed a new human-machine cooperation control algorithm, called the proportional switching function sliding mode control, for lower limb exoskeleton
The results indicate that Sliding mode control (SMC) can provide sufficient driving force to assist wearers, and compared with traditional control algorithm for lower limb exoskeleton, SMC has better accuracy and real-time characteristics
Summary
Power-assisted lower limb exoskeleton is a kind of electromechanical device worn by a human operator. It keeps the same motion with the human by acquiring the human gait data in real time. We proposed a new human-machine cooperation control algorithm, called the proportional switching function sliding mode control, for lower limb exoskeleton. In order to verify the accuracy of the control methods and conduct the optimal design of mechanical structure, we used ADAMS and MATLAB to realize a co-simulation for lower limb exoskeleton. MATLAB has powerful calculating function, high programming efficiency and modular modeling The combination of these two software can play the advantages of both, which can achieve the integration of mechanical and electrical simulation. The results indicate that SMC can provide sufficient driving force to assist wearers, and compared with traditional control algorithm for lower limb exoskeleton, SMC has better accuracy and real-time characteristics
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