Self-adaptive robust force control method and device for under-actuated supporting leg assisting exoskeleton
A control method and technology of supporting legs, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve problems such as weak robustness of the system, and achieve overcoming the strong coupling of multiple joints, overcoming the influence of model uncertainty, and strong The effect of applying value
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Embodiment 1
[0119] see figure 1 , figure 2 as well as image 3 , this embodiment provides an adaptive robust force control method for an underactuated supporting leg-assisted exoskeleton, and the control method is used to control an underactuated supporting leg-assisted exoskeleton. The underactuated support leg power-assisted exoskeleton includes a foot 1, a first rod 2, a second rod 6, a knee joint motor 4, a knee joint reducer 5, a knee joint encoder 3, a back 10, a hip joint motor 8, Hip joint reducer 9, hip joint encoder 7, force sensor 11, back strap 12, waist strap 13 and real-time controller (not shown in the figure). Wherein, the knee joint encoder 3 and the hip joint reducer 9 are joint rotary encoders, and the back 10 is a backboard.
[0120] The foot 1 is used as the contact part of the underactuated supporting leg power-assisted exoskeleton and the ground, which can support the entire exoskeleton, and its function is similar to that of a human foot. The bottom end of the...
Embodiment 2
[0197] This embodiment provides an underactuated support leg power-assisted exoskeleton, which is similar to the underactuated support leg power-assisted exoskeleton in Embodiment 1, the difference is that the real-time controller in this embodiment directly executes the steps in Embodiment 1 The adaptive robust force control method enables each part of the exoskeleton to achieve good following and assisting effects on human motion.
Embodiment 3
[0199] This embodiment provides an adaptive robust force control device for an underactuated supporting leg assisted exoskeleton, which applies the adaptive robust force control method for an underactuated supporting leg assisted exoskeleton in Embodiment 1. Wherein, the control device includes an initialization module 1, an initialization module 2, an initialization module 3, a model building module, a reference displacement acquisition module, an actual displacement acquisition module, a conversion module and a following module.
[0200] The initialization module one is used to initialize the sampling period of the real-time controller, and the sampling period is between 10 and 20 milliseconds. The initialization module 2 is used to rotate the foot 1 to a horizontal position, rotate the first rod 2, the second rod 6 and the back 10 to a vertical position, initialize the knee joint encoder 3 and the hip joint encoder 7 and set the The encoder value is zeroed. The initializat...
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