Experimental Study of Lower Extremity Exoskeleton Robot

被引：0
|
作者：
Jia, Hongyun [1 ]
Wang, Shuopeng [1 ]
Zhang, Bohong [1 ]
Hao, Lina [1 ]
机构：
[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Peoples R China
来源：
2020 10TH INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2020) | 2020年
基金：
中国国家自然科学基金;
关键词：
Lower limb exoskeleton robot; structural design; motion perception; fuzzy PID control; walking experiment;
D O I：
10.1109/cyber50695.2020.9279168
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
At present, there are few reports on the content of systematic experiments in the literature of lower extremity exoskeleton robots. The lower extremity exoskeleton robot system is time-varying, nonlinear, and coupled. In order to adapt to the needs of walking on different roads, this paper designs a lower extremity exoskeleton robot system which is light in weight, convenient to wear, safe and comfortable based on the characteristics of human lower extremity joints. The inertial sensor and plantar pressure sensor are used to collect human motion data; the fuzzy PID control algorithm is researched, and the exoskeleton robot is worn under different road conditions for walking and assisting experiments. The fuzzy PID control algorithm is adaptive and effective, and it realizes the human-machine following of the extremity exoskeleton robot.
引用
收藏
页码：134 / 138
页数：5
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