Ankle flexible exoskeleton based on force feedback admittance control

被引：0
作者：
Chen D. [1 ]
Li W. [1 ]
Zhang H. [1 ]
Li J. [1 ]
机构：
[1] School of Mechanical and Electric Engineering, Jiangsu Provincial Key Laboratory of Advanced Robotics, Soochow University, Suzhou
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2024年 / 58卷 / 04期
关键词：
admittance control; ankle joint; flexible exoskeleton; force feedback; rehabilitation training;
D O I：
10.3785/j.issn.1008-973X.2024.04.012
中图分类号：
学科分类号：
摘要：
In response to the need for ankle rehabilitation training, a lightweight, easy-to-wear flexible ankle exoskeleton robot was designed using modular drive units and Bowden cables through analysis of ankle joint mechanics. The robot can provide assistance for ankle plantarflexion/dorsiflexion and inversion/eversion movements. Position control and torque control are used for flexible exoskeleton during the dorsiflexion and plantarflexion stages, respectively. Position control is mainly based on traditional proportional integral derivative (PID), while torque control uses force as a feedback signal to establish an admittance model between the interaction force difference and the Bowden cable core displacement compensation. The admittance parameters are dynamically adjusted through the Sigmoid deformation function to meet the requirements of assistive torque output and human-machine interaction compliance. Experimental data showed that the position tracking error was stable within 0.46 cm, and the force output error was stable within −1.5-1.5 N, meeting the needs of human rehabilitation training. © 2024 Zhejiang University. All rights reserved.
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页码：772 / 778
页数：6
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