Biomechanical design,dynamic analysis and intelligent control strategy research of a novel exoskeleton with series-parallel topology
This article proposed a novel type of series-parallel lower extremity exoskeleton driven by hydraulic actuators.The determination and distribution of degrees of freedom of the exoskeleton were discussed and joint ranges were determined and optimized.Based on OpenSim, the biological characteristics of human legs during the walking cycle were analyzed and the kinematic and kinetic data were obtained.Based on Kane”s method, the inverse dynamic model of the exoskeleton was conducted.The exoskeleton humanoid gaits of level walking, ascent, descent, level walking with different loads and speed were simulated, and the required driving torques and power were obtained.The co-simulation method of ADAMS and MATLAB/SIMULINK was adopted and the switch-type fuzzy-PID/PID controller was designed.A 1-DOF rotation control was simulated by both the switch-type fuzzy-PID/PID controller and a conventional PID controller for comparison.The exoskeleton walking gait was co-simulated by using the intelligent control strategy.These performance analyses provide a basis to the biomechanical design and intelligent control of the exoskeleton.
Lower extremity exoskeleton Biomechanical design Inverse dynamic Fuzzy-PID/PID control Humanoid gaits
Dalei Pan Feng Gao Yunjie Miao
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240
国内会议
上海交通大学第16期博士生学术论坛——机械百年·智能制造·智造中国学术论坛
上海
英文
95-112
2013-11-30（万方平台首次上网日期，不代表论文的发表时间）