Optimization of the Control Scheme for Human Extremity Exoskeleton

Authors: Yang Li, Xiaorong Guan, Cheng Xu

Abstract:

In order to design a suitable control scheme for human extremity exoskeleton, the interaction force control scheme with traditional PI controller was presented, and the simulation study of the electromechanical system of the human extremity exoskeleton was carried out by using a MATLAB/Simulink module. By analyzing the simulation calculation results, it was shown that the traditional PI controller is not very suitable for every movement speed of human body. So, at last the fuzzy self-adaptive PI controller was presented to solve this problem. Eventually, the superiority and feasibility of the fuzzy self-adaptive PI controller was proved by the simulation results and experimental results.

Keywords: Human extremity exoskeleton, interaction force control scheme, simulation study, fuzzy self-adaptive pi controller, man-machine coordinated walking, bear payload.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1130273

References:

[1] Zhang Jiafan, Chen Ying, Yang Canjun. Man-machine Intelligent Systems of Flexible Exoskeletons. Science press,5-6 (2011).
[2] Yang Zhiyong, Gu Wenjing, Zhang Jing, Gui Lihua. Force Control Theory and Method of Soldier Load Carrying Exoskeleton Suit. National defense industry press, 1-5 (2013).
[3] A. Zoss and Kazerooni, H. Kazerooni, On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX), Proc. of IEEE Intelligent Robots and Systems, Edmonton, Canada, 3132-3139 (2005).
[4] A. Zoss, Kazerooni, H. Kazerooni, Andrew Chu. On the Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX), IEEE/ASME Transactions on Mechatronics, Vol.11(2), 128-138 (2006).
[5] H. Kazerooni, Jean-Louis Racine, Lihua Huang, and Ryan Steger, On the Control of Berkeley Lower Extremity Exoskeleton (BLEEX), Proc. of IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4364-4371 (2005).
[6] Tomoyoshi Kawabata, Hozumi Satoh. Working Posture Control of Robot Suit HAL for Reducing Structural Stress. IEEE International Conference on Robotics and Biomimetics, Guilin, China, 19 -23 (2009).
[7] K. H. Low, Xiaopeng Liu, Haoyong Yu. Development of NTU Wearable Exoskeleton System for Assistive Technologies. IEEE International Conference on Mechatronics & Automation Niagara Falls, Canada, 1099-1106 (2005).
[8] Fu Chenglong. Section Mapping Stability Criterion and Application of the Plane Biped Robot. Beijing: tsinghua university Ph.D. Thesis (2006).
[9] Li Zhengyi, Cao Huimin. Robot Impedance Control Method Adapting to Unknown or Changing Environment Stiffness and Damping Parameters. China Mechanical Engineering, 1581-1585 (2014).
[10] Yang Li, Cheng Xu, Xiaorong Guan. Modeling and simulation study of electromechanically system of the human extremity exoskeleton. Journal of Vibroengineering, 551-561 (2016).
[11] Ying Wu, Hang Jiang, Min Zou. The Research on Fuzzy PID Control of the Permanent Magnet Linear Synchronous Motor. Physics Procedia, Vol.24, 1311-1318, (2012).