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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...

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Autores principales: Wang, Zhipeng, Yang, Chifu, Ding, Zhen, Yang, Tao, Guo, Hao, Jiang, Feng, Tian, Bowen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
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.
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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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