For the research on control method of leg exoskeleton for carrying payload, a leg exoskeleton prototype called ELEBOT (ECUST Leg Exoskeleton roBOT) has been built. To increase the load-carrying ability of exoskeleton, pseudo-anthropomorphic mechanical structure, a kind of efficient, low-flow pump-valve hybrid controlled hydraulic actuator, custom sensing shoes and other electrical components for control have been developed. A knee torque estimate algorithm based on GRF (ground reaction force) was applied to ELEBOT via a hydraulic direct force feedback PD controller. Experiments indicated ELEBOT could support itself and 30 kg additional payload with above control method when it was walking at a speed up to 3.2 km/h while following the operator's maneuvers. These results indicate the control method discussed in this work is valid.
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机译:为了研究腿部外骨骼用于运载有效载荷的控制方法,已建立了一种称为ELEBOT(ECUST腿部外骨骼roBOT)的腿部外骨骼原型。为了增加外骨骼的负载能力,拟人形机械结构,已开发出一种有效的,低流量的泵阀混合控制液压致动器,定制传感靴和其他用于控制的电气元件。通过液压直接力反馈PD控制器将基于GRF(地面反作用力)的膝部扭矩估计算法应用于ELEBOT。实验表明,当按照操作员的操作以最高3.2 km / h的速度行走时,ELEBOT可以通过上述控制方法支撑自身并增加30公斤的有效载荷。这些结果表明本文讨论的控制方法是有效的。
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