Design on electrohydraulic servo driving system with walking assisting control for lower limb exoskeleton robot
نویسندگان
چکیده
According to the characteristics of human gait and requirements power assistance, locomotive mechanisms electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which miniaturization lightweight system realized. The kinematics robot is analyzed verified via typical movements exoskeleton. In this article, simulation joints during level walking was ADAMS 2016, multibody motion analysis software. Motion ranges strokes then optimized. A proportional integral derivative (PID) control method with error estimation pressure compensation proposed satisfy assistance comply limb. implemented into for assisted by experimental results. Finally, experiments show that tracking accuracy power-assisted performance improved.
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2021
ISSN: ['1729-8806', '1729-8814']
DOI: https://doi.org/10.1177/1729881421992286