Modeling, Simulation & Control of Human Lower Extremity Exoskeleton

被引：0

作者：

Zhang Xinyi ^{[1
]}

Wang Haoping ^{[1
]}

Tian Yang ^{[1
]}

Wang Zefeng ^{[2
]}

Peyrodie, Laurent ^{[2
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Sinofrench Int Joint Lab Automat Control & Signal, Nanjing 210094, Jiangsu, Peoples R China

[2] Unite Traitement Signaux Biomed, Hautes Etud Ingenieur, Lille, France

来源：

2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年

关键词：

Exoskeleton; Kinematics model; SimMechanics; PID control; BLEEX;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In recent years, with the increase of aging population and physical disabilities, more attentions have been paid on studies of the lower extremity exoskeleton. It is a man-machine integration device and fusion of multi-subject technology. This article will discuss on mathematical modeling and PID control on exoskeleton. Firstly, the law of human gait and leg structure is studied in details. On this basis and combining the robotics, the freedom and the structure parameters of exoskeleton can be designed. Secondly, by using the D-H model, the mathematical model will be established to analyze the relationship between the pose and motion. Thirdly, by using Lagrange equation, a dynamic model which is to study the relationship between the torque and motion is established. Finally, a modern simulation tool called SimMechanics is used to set up the kinematics model. PID control is used in the article. The sine wave response has been analyzed to earn feasibility results.

引用

页码：6066 / 6071

页数：6

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