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Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System
The advantages of exoskeletons based on the Bowden cable include being lightweight and flexible, thus being convenient in assisting humans. However, the performance of an exoskeleton is limited by the structure and human–exoskeleton interaction, which is analyzed from the established mathematical mo...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8839318/ https://www.ncbi.nlm.nih.gov/pubmed/35161792 http://dx.doi.org/10.3390/s22031040 |
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author | Wang, Zhipeng Yang, Chifu Ding, Zhen Yang, Tao Guo, Hao Jiang, Feng Tian, Bowen |
author_facet | Wang, Zhipeng Yang, Chifu Ding, Zhen Yang, Tao Guo, Hao Jiang, Feng Tian, Bowen |
author_sort | Wang, Zhipeng |
collection | PubMed |
description | The advantages of exoskeletons based on the Bowden cable include being lightweight and flexible, thus being convenient in assisting humans. However, the performance of an exoskeleton is limited by the structure and human–exoskeleton interaction, which is analyzed from the established mathematical model of the human–exoskeleton system. In order to improve the auxiliary accuracy, corresponding control methods are proposed. The disturbance observer is designed to compensate for disturbances and parameter perturbations in the inner loop. The human–exoskeleton interaction feedforward model is integrated into the admittance control, which overcomes the limitation of the force loading caused by the friction of the Bowden cable and the change in stiffness of the human–exoskeleton interaction. Furthermore, an angle prediction method using the encoder as the signal source is designed to reduce the disturbance of the force loading caused by human motion. Finally, the effectiveness of the design method proposed in this paper is verified through experiments. |
format | Online Article Text |
id | pubmed-8839318 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-88393182022-02-13 Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System Wang, Zhipeng Yang, Chifu Ding, Zhen Yang, Tao Guo, Hao Jiang, Feng Tian, Bowen Sensors (Basel) Article The advantages of exoskeletons based on the Bowden cable include being lightweight and flexible, thus being convenient in assisting humans. However, the performance of an exoskeleton is limited by the structure and human–exoskeleton interaction, which is analyzed from the established mathematical model of the human–exoskeleton system. In order to improve the auxiliary accuracy, corresponding control methods are proposed. The disturbance observer is designed to compensate for disturbances and parameter perturbations in the inner loop. The human–exoskeleton interaction feedforward model is integrated into the admittance control, which overcomes the limitation of the force loading caused by the friction of the Bowden cable and the change in stiffness of the human–exoskeleton interaction. Furthermore, an angle prediction method using the encoder as the signal source is designed to reduce the disturbance of the force loading caused by human motion. Finally, the effectiveness of the design method proposed in this paper is verified through experiments. MDPI 2022-01-28 /pmc/articles/PMC8839318/ /pubmed/35161792 http://dx.doi.org/10.3390/s22031040 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Wang, Zhipeng Yang, Chifu Ding, Zhen Yang, Tao Guo, Hao Jiang, Feng Tian, Bowen Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System |
title | Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System |
title_full | Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System |
title_fullStr | Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System |
title_full_unstemmed | Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System |
title_short | Study on the Control Method of Knee Joint Human–Exoskeleton Interactive System |
title_sort | study on the control method of knee joint human–exoskeleton interactive system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8839318/ https://www.ncbi.nlm.nih.gov/pubmed/35161792 http://dx.doi.org/10.3390/s22031040 |
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