MOTION CONTROL ALGORITHMS FOR AN EXOSKELETON EQUIPPED WITH PNEUMATIC DRIVES

被引：0
|
作者：
Kryukova, Anastasiya A. [1 ]
Gradetsky, Valery G. [1 ]
Ermolov, Ivan L. [1 ]
Knyazkov, Maxim M. [1 ]
Semyonov, Eugeniy A. [1 ]
Sukhanov, Artyom N. [1 ]
机构：
[1] Russian Acad Sci, Inst Problems Mech, Moscow 119526, Russia
来源：
NATURE INSPIRED MOBILE ROBOTICS | 2013年
关键词：
D O I：
暂无
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
The particular paper is devoted to motion control algorithms for an assist walker robot. Some problems of the motion stability are considered to satisfy the exoskeleton leg dynamics by means of a multilevel control system. The interaction of the user, the exoskeleton, and the environment is considered to improve the maneuverability and velocity of the robot's links. An appropriate motion control algorithm is proposed for an exoskeleton with pneumatic drives. The results of the experimental study of the exoskeleton's physical prototype are presented.
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页码：27 / 34
页数：8
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