Method of controlling single-joint assisting exoskeleton sliding mode

Abstract

The invention discloses a method of controlling a single-joint assisting exoskeleton sliding mode. The method comprises the steps of firstly collecting the signal of a multi-axis force sensor on a shank; converting a force of a contact point of the multi-axis force sensor into an expected speed of the contact point by a real-time controller, and further obtaining an expected angle of a knee joint through operation; outputting a voltage signal for controlling an electro-hydraulic servo valve by collecting and operating the angle information of a rotary encoder by the real-time controller; converting the voltage signal into a current signal of the electro-hydraulic servo valve by a servo valve amplifying board; realizing the control on a flow flowing into a hydraulic cylinder according to the size of the current signal by the electro-hydraulic servo valve, and further realizing the control on a piston position of the hydraulic cylinder. The method of controlling the single-joint assisting exoskeleton sliding mode, disclosed by the invention, has the characteristics that the response is quick, the reaction on parameter variation and disturbance is insensitive, on-line system identification is not needed, physical realization is simple, and the like.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for sliding mode control of a single-joint assisted exoskeleton. Background technique [0002] Soldiers in the army often need to carry heavy loads for long-distance walking or combat. Overweight loads often cause certain damage to the soldiers' bodies. In this context, it is necessary to develop a Exoskeleton equipment; In scientific research, fire rescue and other fields, scientific research personnel and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, field combat, mountaineering expeditions, etc. Traditional wheeled vehicles are difficult to operate in these special areas. occasions come into play. In addition, exoskeletons can also be used for cargo loading and unloading in warehouses to reduce the labor intensity of porters. The combination of exoskeleton and human can adapt to the unstructured environment, has exc...

AI Technical Summary

Problems solved by technology

The characteristic of the power-assisted exoskeleton is that it requires collaboration with the wearer in an unstructured environment, which requires researchers to solve the highly coordinated human-machine integration problem in an unstructured environment, including effective and reliable human-computer interaction issues. The rapid response to human motion intentions, the lightweight and flexible bionic structure design, the safety of the man-machine system, etc. These technical issues are still in the initial stage of exploration and immature, and in-depth research is still needed

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