Design and Control Technique Research of Exoskeleton Suit

摘要：

Naval Aeronautical Engineering Institute Exoskeleton Suit (NAEIES)is a kind of human-machine robot which combines the human s intelligence with the powerful energy of mechanism.It can help people to carry heavy load, walking on kinds of terrains.A prototype of NAEIES is proposed in this paper.When human walking,his (her)forearm has a similar motion trajectory with knee joint.So the forearm motion is measured by a potentiometer as the control signal of the knee joint.The hip joint motion is realized by a gas spring.This is the simplest method to realize the motion of NAEIES.The principle of the method was illustrate in the paper and for the further study a control techniques based on the feedback of angle acceleration is proposed and simulated with the one-Dof and two-Dof model of NAEIES leg.

关键词： Exoskeleton Suit Power Assist Human-Machine

作者: Lihua Gui Zhiyong Yang 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）