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

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Torque Analysis of the Lower Limb Exoskeleton Robot Design

Exoskeleton is a type of wearable robots that can augment the performance of an able-bodied user. There are many studies that use hydraulic actuator to actuate the lower limb exoskeleton which possesses several drawbacks like dirty, noisy and high power consumption. Therefore, electrical actuators that are clean, silent and less power consuming are used in designing the lower limb exoskeleton i...

متن کامل

combined neural network feedforward and rise feedback control structure for a 5 dof upper-limb exoskeleton robot with asymptotic tracking

control of robotic systems is an interesting subject due to their wide spectrum applications in medicine, aerospace and other industries. this paper proposes a novel continuous control mechanism for tracking problem of a 5-dof upper-limb exoskeleton robot. the proposed method is a combination of a recently developed robust integral of the sign of the error (rise) feedback and neural network (nn...

متن کامل

Lower-Limb Wearable Exoskeleton

There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahea...

متن کامل

Design of a Powered Lower-limb Exoskeleton and Control for Gait Assistance in Paraplegics

iii To my wife, Renee iv ACKNOWLEDGEMENTS I have been priveledged to work and study under engineers of the highest caliber during my five years at Vanderbilt. I am grateful for and amazed by the consistantly insightful vision with which my advisor, Dr. Michael Goldfarb, has directed our lab. His integrity and humility inspire me. My gratitude also extends to Hugo Quintero for his exceptional en...

متن کامل

Iterative Learning Impedance for Lower Limb Rehabilitation Robot

This paper discusses the problem of squatting training of stroke patients. The main idea is to correct the patient's training trajectory through an iterative learning control (ILC) method. To obtain better rehabilitation effect, a patient will typically be required to practice a reference posture for many times, while most of active training methods can hardly keep the patients training with co...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Actuators

سال: 2023

ISSN: ['2076-0825']

DOI: https://doi.org/10.3390/act12040147