Design and human-robot interaction control of rehabilitation exoskeleton compliant hip joint

To solve the problem that the auxiliary force cannot be adjusted in real-time with the parameters of the lower limbs of the human body during the rehabilitation treatment of hip joint motion,a human-robot interaction control method based on friction compensation and fuzzy impedance control was proposed.The design of the bionic mechanism was based on the biological basis of the human hip joint,and to avoid the influence of the impedance parameters of the human lower limb on the output of the compliant hip joint,the dynamic modeling of the human-robot system was carried out.Based on the EKF (extended Kalman filter),the internal friction of the motor was compensated to reduce the friction influence on the motor output position.An identification algorithm was used to estimate the impedance parameters of the human lower limbs,a closed-loop human-robot interaction controller was constructed based on fuzzy impedance control,and the contact force was adjusted in real-time to achieve gait trajectory training.The experiment verified the rationality of the design of the rehabilitation exoskeleton compliant hip joint and the effectiveness of the human-robot interaction controller method. © 2020, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.