A Passive Control Method for Single Joint Exoskeleton Based on Hill Model

DOI

10.2991/icmemtc-16.2016.298How to use a DOI?

Keywords

Exoskeleton Robot; Hill Model; Passive Control; Sliding Mode Control.

Abstract

Recent years, exoskeleton robot has become the focus of fields of medical rehabilitation, military, aerospace, etc. But there still exist some hardnut problems in the design of mechanism, the movement intention detection and the coupling control of human-machine. Passive control is mainly used for improving the motor recovery of hemiplegic patients. A method of generating bionic trajectories which are used in passive control methods is proposed. Firstly, the structure of the control system of the elbow joint is discussed. Based on the Hill model of skeletal muscle, a new position tracking passive control strategy is proposed, which has a highly similar compliance with human motion. According to the requirements of assistance and comfort, a proportional sliding mode controller is designed using feedback linearization. After that, the model of the control system is simulated, and the tracking characteristics of the angle and angular velocity are analyzed. Finally, the experimental results validate that the passive control strategy has high human similar compliance.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Han Wu
AU  - Qing Wei
AU  - Jian Wang
PY  - 2016/04
DA  - 2016/04
TI  - A Passive Control Method for Single Joint Exoskeleton Based on Hill Model
BT  - Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control
PB  - Atlantis Press
SP  - 1552
EP  - 1558
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmemtc-16.2016.298
DO  - 10.2991/icmemtc-16.2016.298
ID  - Wu2016/04
ER  -