Simulation Research of Exoskeleton Suit Based on Sensitivity Amplification Control

摘要：

Exoskeleton suit is a kind of human-machine robot, which combines the humans intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains and have a broadly apply area. Though many exoskeleton suits has been developed, there need many complex sensors between the pilot and the exoskeleton system, which decrease the comfort of the pilot. Sensitivity Amplification Control (SAC) is a method applied in exoskeleton system without any sensors between the pilot and the exoskeleton. In this paper simulation research was made to verify the feasibility of SAC include a simple 1-dof model and a swing phase model of 3-dof. A PID controller was taken to describe the human-machine interface model. Simulation results show the human only need to exert a scale-down version torque compared with the actuator and decrease the power consumes of the pilot.

关键词： Exoskeleton Suit Power Assist Human-Machine

作者: Zhiyong Yang Lihua Gui Xiuxia Yang Wenjin Gu Yuanshan Zhang

作者单位: Department of Control Engineering Naval Aeronautical Engineering Institute Yantai, Shandong Province,China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）