Total cource locomotion control of assist walking exoskeleton leg

Author

Yang Xiuxia ; Zhang Yi ; Xiao Zhicai ; Yang Zhiyong

Author_Institution

Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China

fYear

2011

fDate

22-24 July 2011

Firstpage

4105

Lastpage

4108

Abstract

Based on the analyze of the assist walking exoskeleton leg behavior characteristics, the total cource locomotion can be divided into swing and stance two phase. To the stance phase, the position control based on fixed gravity compensation is used. To the swing phase, the fast terminal sliding mode control is used to design the virtual torque controller. Theoretical analyse and simulation results test the feasibility and validity of this control method.

Keywords

compensation; gait analysis; handicapped aids; legged locomotion; position control; torque control; variable structure systems; fast terminal sliding mode control; fixed gravity compensation based position control; swing phase; total cource locomotion control; virtual torque controller; walking exoskeleton leg assistance; Equations; Exoskeletons; Gravity; Humans; Mathematical model; Position control; Torque; Assist Walking Exoskeleton Leg; Fast Terminal Sliding Mode Control; Position Control; Total Cource Locomotion Control; Virtual Torque Controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6001317