A Passive Control Method for Single Joint Exoskeleton Based on Hill Model

Recent years, exoskeleton robot has become the focus of fields of medical rehabilitation, military, aerospace, etc. But there still exist some hardnut problems in the design of mechanism, the movement intention detection and the coupling control of human-machine. Passive control is mainly used for improving the motor recovery of hemiplegic patients. A method of generating bionic trajectories which are used in passive control methods is proposed. Firstly, the structure of the control system of the elbow joint is discussed. Based on the Hill model of skeletal muscle, a new position tracking passive control strategy is proposed, which has a highly similar compliance with human motion. According to the requirements of assistance and comfort, a proportional sliding mode controller is designed using feedback linearization. After that, the model of the control system is simulated, and the tracking characteristics of the angle and angular velocity are analyzed. Finally, the experimental results validate that the passive control strategy has high human similar compliance.

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