Virtual Coupling Based Control Methodology for Lower Extremity Exoskeleton

Abstract

As one of the most important examples of human-orientated system, the exoskeleton can improve the strength and endurance of the wearer. The exoskeleton has multi-degrees of freedom. As a result, a stable controller for the exoskeleton is difficult to design. The adoption of a purely positional control strategy may lead to large contact forces. Hence, an admittance control strategy is devised aimed at limiting both internal and contact forces. To verify the rationality and feasibility of the control strategy, we introduce a method utilizing virtual prototype and collaborative simulation.