The Berkeley Lower Extremity Exoskeleton (BLEEX) is a load-carrying and energetically autonomous human exoskeleton that, in this first generation prototype, carries up to a 34 kg (75 lb) payload for the pilot and allows the pilot to walk at up to 1.3 m/s (2.9 mph). This article focuses on the human-in-the-loop control scheme and the novel ring-based networked control architecture (ExoNET) that together enable BLEEX to support payload while safely moving in concert with the human pilot. The BLEEX sensitivity amplification control algorithm proposed here increases the closed loop system sensitivity to its wearer’s forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The tradeoffs between not having sensors to measure human variables, the need for dynamic model accuracy, and robustness to parameter uncertainty are described. ExoNET provides the physical network on which the BLEEX control algorithm runs. The ExoNET control network guarantees strict determinism, optimized data transfer for small data sizes, and flexibility in configuration. Its features and application on BLEEX are described.
展开▼
机译:伯克利下肢外骨骼(BLEEX)是一种承载携带和能量自主的人类外骨骼,在这一第一代原型中,用于飞行员的34公斤(75磅)有效载荷,并允许飞行员走到最高1.3 M / s(2.9英里/小时)。本文重点介绍了LOOP控制方案和新颖的环形网络控制架构(EXONET),在一起使BLEEX能够支持有效载荷,同时安全地与人类飞行员一起移动。这里提出的BLEEX敏感性放大控制算法增加了对其穿着者的力和扭矩的闭环系统敏感性,而无需从穿着者(例如力,位置或电灰度信号)的任何测量。描述了不具有传感器来测量人类变量的权衡,需要动态模型精度以及对参数不确定度的鲁棒性。 Exonet提供了Bleex控制算法运行的物理网络。 Exonet控制网络保证严格的确定性,针对小型数据尺寸的优化数据传输,以及配置的灵活性。描述了其在Bleex上的功能和应用。
展开▼