机器人Issue(4)：403-414,12.DOI:10.13973/j.cnki.robot.2015.0403
基于踝关节处人机位姿误差的外骨骼摆动腿控制
Control of the Exoskeleton’s Swing Leg Based on the Human-Machine Posture Error at Ankle Joint
摘要
Abstract
An overall motion control strategy of the exoskeleton is proposed, and the motion planning and PD (proportional-derivative) control of the exoskeleton’s swing leg are introduced especially. As the basis of the motion plan-ning of exoskeleton’s swing leg, the detection of human-machine posture error at ankle joint can be achieved by banding the exoskeleton and the wearer with each other at waist and ankle, thus the limitation on wearer’s movement and the complexity of control system can be reduced. Correctness of the exoskeleton dynamical model which is the basis for designing the swing leg PD controller is verified with Adams and Matlab. Kalman filter adopted to predict the movement of the wearer’s swing leg can improve the control accuracy under the limited sampling frequency. The experiment results indicate that this method can efficiently identify the movement intention of wearer’s swing leg, and drive the exoskeleton’s hip and knee joints to precisely track the wearer’s ankle joint trajectory. The method can be used to control the exoskeleton’s swing leg.关键词
外骨骼/运动意图/卡尔曼滤波器/动力学模型/PD控制器Key words
exoskeleton/movement intention/Kalman filter/dynamical model/PD controller分类
信息技术与安全科学引用本文复制引用
贾山,王兴松,路新亮,徐继刚,韩亚丽..基于踝关节处人机位姿误差的外骨骼摆动腿控制[J].机器人,2015,(4):403-414,12.基金项目
江苏省普通高校研究生科研创新计划（CX10B-063Z，CXZZ 0140）；国家自然科学基金青年基金（51205182）；江苏省自然科学基金青年基金（BK2012474）． （）
