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提出了一种外骨骼整机运动控制策略,并重点介绍了外骨骼摆动腿的运动规划与PD(比例-微分)控制.作为外骨骼摆动腿运动规划的依据,踝关节处人机位姿误差检测仅需要在腰部与踝足部进行人机绑定,降低了对穿戴者运动的限制与控制系统的复杂性.通过Adams与Matlab验证了作为外骨骼摆动腿PD控制器设计基础的外骨骼动力学模型的正确性.引入卡尔曼滤波器预测穿戴者摆动腿的运动可以在有限的采样频率下改善控制精度.实验结果表明,该方法能有效识别穿戴者摆动腿的运动意图并驱动外骨骼髋、膝关节实现人机踝关节轨迹的跟踪,可用于下肢外骨骼摆动腿的控制.
This paper presents a strategy of exoskeleton machine motion control, and focuses on the exoskeleton swing leg motion planning and PD (Proportional-Differential) control.As the basis of the exoskeleton swing leg motion planning, the human-machine pose error The detection only needs to be man-machine bound at the waist and ankle, which reduces the complexity of the movement restriction and the control system of the wearer.The exoskeleton power which is the design basis of exoskeleton swing leg PD controller is verified by Adams and Matlab The correctness of the model is verified by introducing the Kalman filter to predict the movement of the wearer’s swinging leg to improve the control accuracy at a limited sampling frequency.The experimental results show that this method can effectively recognize the intention of the wearer’s swinging leg and drive the exoskeleton hip , Knee joint tracking of human-ankle joint trajectory can be used for the control of lower limb exoskeleton swing leg.