Design on electrohydraulic servo driving system with walking assisting control for lower limb exoskeleton robot

被引：0

作者：

Wang, Buyun ^{[1
,2
]}

Liang, Yi ^{[1
,2
]}

Xu, Dezhang ^{[1
,2
]}

Wang, Zhihong ^{[2
]}

Ji, Jing ^{[2
]}

机构：

[1] School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China

[2] Research and Development Department, AHPU Institute of Technology Robotic Industry, Wuhu, China

来源：

International Journal of Advanced Robotic Systems | 2021年 / 18卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Proportional control systems - Exoskeleton (Robotics) - Computer software - Joints (anatomy) - Machine design - Three term control systems - Error compensation - Walking aids - Two term control systems;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

According to the characteristics of human gait and the requirements of power assistance, locomotive mechanisms and electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which the miniaturization and lightweight of driving system are realized. The kinematics of the robot is analyzed and verified via the typical movements of the exoskeleton. In this article, the simulation on the power of joints during level walking was analyzed in ADAMS 2016, which is a multibody simulation and motion analysis software. Motion ranges and driving strokes are then optimized. A proportional integral derivative (PID) control method with error estimation and pressure compensation is proposed to satisfy the requirements of joints power assistance and comply with the motion of human lower limb. The proposed method is implemented into the exoskeleton for assisted walking and is verified by experimental results. Finally, experiments show that the tracking accuracy and power-assisted performance of exoskeleton robot joints are improved. © The Author(s) 2021.

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