Simulation of Exoskeleton's Virtual Joint Torque Control

The exoskeleton is developed to assist human in carrying load easily. In order to reduce the sensors between the human and the exoskeleton, ensure that the exoskeleton can track the motion of the human while reducing the torque exerted by the human and increasing the comfort of the human, we need to find out an effective control strategy for the exoskeleton. In this paper, we first analysis the theory of the virtual joint torque control for both 1-DOF model and multi-DOF model and get a conclusion that the control strategy is available in theory. Then we use SimMechanics in Simulink toolbox of MATLAB to build the system's 1-DOF model and multi-DOF model, we get some simulation results which can show that the control system's traceability is good and the power of consumption of the human can be reduced. At last, we give some advices to the next research.