The design and synchronous control of a new lower back exoskeleton

被引：0
作者：
Sun, Yujuan [1 ]
Wang, Haoping [1 ]
Tian, Yang
机构：
[1] Nanjing Univ Informat Sci & Technol, Sch Automat, Sino French Int Joint Lab Automat Control & Signa, Nanjing 210094, Jiangsu, Peoples R China
来源：
2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年
基金：
对外科技合作项目（国际科技项目）; 中国国家自然科学基金;
关键词：
lower back; exoskeleton; kinematics; dynamics; mean deviation coupling; cooperative control; PAIN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new wearable power assist device for lower back support is proposed in this paper. The waist power assist suit is designed to relieve lower back pain and it is equipped with four push rods to realize the three-dimensional rotation around the human waist joint. Mathematical model of the device including the kinematics and the dynamics is presented on the basis of the freedom analysis. A kind of lumbar rehabilitation movement is put forward. To ensure the coordination work of the four motors, an improved mean deviation coupling control strategy is proposed in this paper. To demonstrate the effectiveness of the proposed synchronous control strategy, simulation is carried out in Matlab/Simulink and the simulation results show better performances than the compared deviation coupling cooperative control.
引用
收藏
页码：3949 / 3954
页数：6
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