The Lower Extremity Exoskeleton Coordinated Control Method Based on Human Electromechanical Coupling

This paper has introduced electromechanical coupling characteristics in the lower extremity exoskeleton systems, considered model,according to legs supporting gait when people walking, established the load torque compensation model, and a mathematical model of knee position control system which is made of the servo valve, hydraulic cylinders and other hydraulic components, designed hydraulic cylinder position control loop in case of existing load force interference compensation, and used the method of combining the PID and lead correction network for frequency domain design,ensured system to meet a certain stability margin. The simulation results show that this position control method can servo on the knee angular displacement of normal human walking, reached a certain exoskeleton boost effect, at the same time, met the needs of human-machine coordinated motion.