Self-learning assistive exoskeleton with sliding mode admittance control

Human intention estimation is important for assistive lower limb exoskeleton, and the task is realized mostly by the dynamics model or the EMG model. Although the dynamics model offers better estimation, it fails when unmodeled disturbances come into the system, such as the ground reaction force. In contrast, the EMG model is non-stationary, and therefore the offline calibrated EMG model is not satisfactory for long-time operation. In this paper, we propose the self-learning scheme with the sliding mode admittance control to overcome the deficiency. In the swing phase, the dynamics model is used to estimate the intention while teaching the EMG model; in the consecutive swing phase, the taught EMG model is used alternatively. In consequence, the self-learning control scheme provides better estimations during the whole operation. In addition, the admittance interface and the sliding mode controller ensure robust performance. The control scheme is justified by the knee orthosis with the backdrivable spring torsion actuator, and the experimental results are prominent.