Parameter Optimization for Exoskeleton Control System Using Sobol Sequences

The focus of this paper is the control system of an exoskeleton that performs sit-to-stand motion. In previous publications it was shown that during such motion an exoskeleton can be modeled as a four bar serial mechanisms. That allows to simplify the control system design, which has been shown in the literature. This work provides further development of one of the existing approaches in designing control systems for exoskeletons performing sit-to-stand motion. In the paper a method for parameter optimization of the regulator is presented. The method is based on a multi stage procedure and combines the use of Sobol sequences with a nonlinear numerical optimization techniques. The results of the optimization and their analysis are presented. Relative advantages of using different objective functions are discussed.

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