Control analysis for the wearable power assist robot for leg

In this paper,the control strategy for the wearable power assist robot for leg(WPAL) was introduced.Considering the purpose of research,the structure complexity and the function particularity of the human body,this paper proposed a control strategy for WPAL based on an imitated bone-muscle function model through the proper simplified and indispensable hypothesis.And through adjusting the muscle function model cofficients of spring and damp,we could change the time of power assist phase,namely,change the percentage of power assist.And,through the interaction force between the user's leg and the robot's,the user's movement could be judged in advance.