Study on Lower Extreme Virtual Carrying Robot System Movement Control

Lower extremity exoskeleton intelligent carrying system is a new concept human-machine intelligent robot system. To provide a virtual experiment platform for the system, virtual prototyping technique is used to build up a human-machine carrying exoskeleton system, which is benefit to study the kinematics and dynamics characteristics, speed up the development of prototype. The dynamic model of exoskeleton for the integral movement is established, and the virtual joint nonlinear adaptive torque control is provided to complete the walking experiment. Simulation results show the validity of this the virtual platform and the control method.