Comparision of different control algorithms for a knee exoskeleton
文献类型：会议论文
| 作者 | Yuhao Luo; Can Wang; Zheng Wang; Yue Ma; Xinyu Wu |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | Marina Bay Sands Expo and Convention Centre, Singapore |
| 英文摘要 | Though the rapidly development in exoskeleton robot area, there are still some challenges, such as the safe and friendly human-machine interaction. In this paper, we proposed a novel knee exoskeleton driven by Series Elastic Actuator (SEA) which is a compliant actuator has the characteristic low output impedance, low friction, high quality force control and back-drivability. As for walking assistance, the force control is vital. Here, we mainly apply two control method to achieve the robust force control, one is the feedback control with enchaned distrubance observer, another is the Integral Sliding Mode Control (ISM). We test both the stability and force tracking performance of the two controler. The result showed that both algorithms can achieve the satisfactory performance and the ISM algorithm obtained the slightly better result. |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13846]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Yuhao Luo,Can Wang,Zheng Wang,et al. Comparision of different control algorithms for a knee exoskeleton[C]. 见:. Marina Bay Sands Expo and Convention Centre, Singapore. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。