Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human

Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human
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负重人体下肢外骨骼力反馈控制

DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Abdullah Çakan
Abdullah Çakan
中科院分区：
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文献类型：
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作者：
Yusuf Şahin;F. M. Botsali;Mete Kalyoncu;M. Tinkir;Ü. Önen;Nihat Yılmaz;Ö. K. Baykan;Abdullah Çakan

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下肢外骨骼是可穿戴机器人操纵器，其将人类智能与腿式机器人的力量相结合。最近，下肢外骨骼已经被专门开发用于康复、军事、工业应用和救援、举重和民防应用。本文提出了一种下肢外骨骼的控制器设计的负载进行人类提供力反馈控制对外部负载的用户在步行，坐着，和站立运动。所提出的外骨骼系统具有由两个伺服液压致动器提供动力和控制的两条腿。设计了比例积分（PI）控制器对系统进行力控制。外骨骼鞋中放置了六个柔性力传感器，两个测压元件安装在活塞杆端部和小腿关节之间。力反馈控制是通过比较地面反力和液压缸作用力来实现的。本文讨论了下肢外骨骼系统的控制仿真和实验测试。
Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents controller design of a lower-extremity exoskeleton for a load carrying human to provide force feedback control against to external load carried by user during walking, sitting, and standing motions. Proposed exoskeleton system has two legs which are powered and controlled by two servo-hydraulic actuators. Proportional and Integral (PI) controller is designed for force control of system. Six flexible force sensors are placed in exoskeleton shoe and two load cells are mounted between the end of the piston rod and lower leg joint. Force feedback control is realized by comparing ground reaction force and applied force of hydraulic cylinder. This paper discusses control simulations and experimental tests of lower extremity exoskeleton system.