Admittance Control of Four-link Bionic Knee Exoskeleton with Inertia Compensation

Tehnički Vjesnik

Fei Li¹  Qingdong Wang²  Yao Xie²  Hualong Xie² 

[1] School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, China;School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China;

关键词: admittance control;    exoskeleton;    four-link bionic knee;    inertia compensation;   

DOI  :  

来源: DOAJ

【 摘 要 】

This paper proposes a control algorithm based on the admittance principle for the motion of the four-link bionic knee exoskeleton. Firstly, the interaction between the operator and the exoskeleton was converted into the desired trajectory of the exoskeleton. Then, the inertia compensation is achieved in light of the admittance features of exoskeleton movement. Finally, the validity of the admittance control method for four-link bionic knee was confirmed through simulation experiment. The simulation results show that the relative error of the joint angle between the operator and the exoskeleton was less than 5% at normal swinging frequency, and the interaction force between the manipulator and the exoskeleton was within ±0.5 N. The research findings lay a theoretical basis for practical application of exoskeletons.

【 授权许可】

Unknown