Study on Control System for Joint-Assisted Exoskeleton under Deep Squat-Rise Process in Active Spacesuit

In order to meet the requirement of future extraterrestrial space explorations for activities of extravehicular spacesuit, a concept of active spacesuit based on joint-assisted exoskeleton technology is presented. Firstly, by analyzing the hysteresis characteristics of lower limb joint motion of spacesuit, the resistance torque-angle relation curve of joint motion under deep squat-rise process with load is obtained. Then, the dynamic equations of three degrees of freedom model under deep squat-rise motion is established by analyzing the lower limb of joint-assisted exoskeleton. Finally, an adaptive robust switching learning is presented to obtain the trajectory tracking error curve and the manpower factor curve under deep squat-rise process with load. The results show that active spacesuit can effectively increase the load-bearing capacity of future astronauts.

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