Negative-Stiffness Structure Vibration-Isolation Design and Impedance Control for a Lower Limb Exoskeleton Robot
نویسندگان
چکیده
The series elastic actuator (SEA) is generally used as the torque source of exoskeleton robot for human–robot interaction (HRI). In this paper, an impedance control method lower limb robots driven by SEA presented. First, considering low-frequency vibrations generated during walking, displacement regarded external disturbance to motor. An structure with negative stiffness (NSS) designed achieve vibration isolation in excitation region. Second, dynamics model SEA-driven system proposed, and strategy integrated into proposed system. addition, numerical responses vibration-isolation both time frequency domains are given, NSS isolation. amplitude-frequency obtained. harmonic balance (HB) give analytical solution negative-stiffness system, effects different characteristic parameters on analyzed. Moreover, stability demonstrated using Lyapunov method. Finally, simulations carried out order show effectiveness
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ژورنال
عنوان ژورنال: Actuators
سال: 2023
ISSN: ['2076-0825']
DOI: https://doi.org/10.3390/act12040147