Coordinated Control Method of the Lower Extremity Exoskeleton Based on Human Electromechanical Coupling

摘要

This paper has introduced electromechanical coupling characteristics to the lower extremity exoskeleton systems. When the load torque compensation model has been established, A model of knee position control system has also been established, which is made of the servo valve, hydraulic cylinders and other hydraulic components. Hydraulic cylinder position control loop has been designed in case of existing load force interference compensation. From that have ensured the system to meet a certain stability margin. The simulation shows that this position control method can servo on the knee angular displacement of normal human walking, at the same time, met the needs of human-machine coordinated motion. On basis of 30kg walk test of prototype of system, analyzing hydraulic cylinder bearing demand under different load conditions. The test shows that the lower limb exoskeleton portable power system using a hydraulic valve position control can meet the load 30kg low level walking requirements.