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Perceiving and predicting the intended motion with human-machine interaction force for walking assistive exoskeleton robot
Yang MY(杨明毅); Xu ZG(徐志刚); Liu Y(刘勇); He Y(贺云); Xu YL(徐永利)
作者部门装备制造技术研究室
会议名称2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
会议日期August 4-7, 2013
会议地点Takamastu, Japan
会议录名称2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
出版者IEEE Computer Society
出版地Washington, DC
2013
页码805-810
收录类别EI ; CPCI(ISTP)
EI收录号20134817017334
WOS记录号WOS:000335375900136
产权排序1
ISBN号978-1-4673-5560-5
关键词Exoskeleton Robot Intended Motion Human-machine Interaction Force Hybrid Control
摘要The characteristic of man in the loop has always brought lots of difficulties for the control of exoskeleton. To solve these, a hybrid control method based on human-machine interaction force (HMIF) is proposed and applied to the control of lower limb exoskeleton in this paper. We innovatively combine ground contact pressure and body contact force together and give full play to their respective advantages. With the virtual modification of human limb impedance properties, the nature of the human body energy saving with exoskeleton is revealed. One of the greatest strengths of this control strategy is that exoskeleton is able to perceive and anticipate the pilot intended motion in real time, thereby decrease the power consumption of pilot and provide most of the strength necessary for human walking. The simulation results demonstrate the feasibility and validity of the proposed control strategy. The exoskeleton can follow the pilot's motion trajectory and minimize the body contact force without the exact dynamic model.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13831
专题装备制造技术研究室
推荐引用方式
GB/T 7714
Yang MY,Xu ZG,Liu Y,et al. Perceiving and predicting the intended motion with human-machine interaction force for walking assistive exoskeleton robot[C]. Washington, DC:IEEE Computer Society,2013:805-810.
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