Title :
Electro-hydraulic servo system for Human Lower-limb Exoskeleton based on sliding mode variable structure control
Author :
Zhiyong Tang ; Di Shi ; Difei Liu ; Zhaoqin Peng ; Longlong He ; Zhongcai Pei
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Abstract :
Human Lower-limb Exoskeleton has recently received a great deal of attention, because of providing motion similar to human walking and reducing burden on both patients and therapists. In this paper the design of the control system for HLE which is actuated by electro-hydraulic servo system is presented. To improve the flexibility of the system, a control algorithms called sliding mode variable structure control was adopted. The simulation and results show that the controller has a better dynamic performance.
Keywords :
control system synthesis; electrohydraulic control equipment; gait analysis; medical control systems; servomechanisms; variable structure systems; HLE actuation; control system design; dynamic performance; electro-hydraulic servo system; human lower-limb exoskeleton; human walking; sliding mode variable structure control algorithm; Exoskeletons; Joints; Knee; Legged locomotion; Servomotors; Valves; electro-hydraulic servo system; human lower-limb exoskeleton; sliding mode variable structure control;
Conference_Titel :
Information and Automation (ICIA), 2013 IEEE International Conference on
Conference_Location :
Yinchuan
DOI :
10.1109/ICInfA.2013.6720360