Hybrid control of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Hybrid control of the Berkeley Lower Extremity Exoskeleton (BLEEX)
复制标题
DOI：
10.1177/0278364906065505
复制
发表时间：
2006-05-01
影响因子：
9.2
通讯作者：
Huang, Lihua
中科院分区：
文献类型：
--
作者：
Kazerooni, H.;Steger, Ryan;Huang, Lihua
Berkeley Lower Emergency Exoskeleton是第一个功能性的能量自主负载承载人类外骨骼，并在U.C.进行了演示。伯克利，步行的平均速度为0.9米/秒（2英里每小时），同时携带34公斤（75磅）的有效载荷。最初发布的控制器称为BLEEX灵敏度放大控制器，它基于正反馈，旨在增加闭环系统对佩戴者的力和扭矩的灵敏度，而无需佩戴者进行任何直接测量。该控制器成功地为飞行员提供了自然和无障碍的载荷支持。本文提出了一种改进的控制方案，我们称之为“混合”BLEEX控制，增加了鲁棒性，不断变化的BLEEX背包有效载荷。步行步态周期分为站立控制和摆动控制阶段。BLEEX站立腿（包括躯干和背包）使用位置控制，摆动腿使用灵敏度放大控制器。控制器还被设计成当飞行员行走时在这两种方案之间平滑地过渡。通过混合控制，控制器不需要BLEEX躯干和有效载荷的良好模型，这是难以获得的，并且随着有效载荷的添加和移除而变化。作为折衷，在该方法中使用的位置控制需要人佩戴七个倾斜计来测量人的肢体和躯干角度。这些额外的传感器需要精心设计，以将它们牢固地固定在人体上，并增加穿戴和佩戴BLEEX的时间。
The Berkeley Lower Extremity Exoskeleton is the first functional energetically autonomous load carrying human exoskeleton and was demonstrated at U.C. Berkeley, walking at the average speed of 0.9 m/s (2 mph) while carrying a 34 kg (75 lb) payload. The original published controller, called the BLEEX Sensitivity Amplification Controller was based on positive feedback and was designed to increase the closed loop system sensitivity to its wearer's forces and torques without any direct measurement from the wearer. This controller was successful at allowing natural and unobstructed load support for the pilot. This article presents an improved control scheme we call "hybrid" BLEEX control that adds robustness to changing BLEEX backpack payload. The walking gait cycle is divided into stance control and swing control phases. Position control is used for the BLEEX stance leg (including the torso and backpack) and a sensitivity amplification controller is used for the swing leg. The controller is also designed to smoothly transition between these two schemes as the pilot walks. With hybrid control, the controller does not require a good model of the BLEEX torso and payload, which is difficult to obtain and subject to change as payload is added and removed. As a tradeoff, the position control used in this method requires the human to wear seven inclinometers to measure human limb and torso angles. These additional sensors require careful design to securely fasten them to the human and increase the time to don and doff BLEEX.