Sino-French International Joint Laboratory of Automatic Control and Signal Processing (LaFCAS), School of Automation, Nanjing University of Science and Technology Nanjing, 210094, China.
Sino-French International Joint Laboratory of Automatic Control and Signal Processing (LaFCAS), School of Automation, Nanjing University of Science and Technology Nanjing, 210094, China.
ISA Trans. 2022 Sep;128(Pt A):184-197. doi: 10.1016/j.isatra.2021.10.009. Epub 2021 Oct 13.
In this paper, an adaptive interaction torque-based assist-as-needed (AITAAN) control method for the lower limb rehabilitation exoskeleton is proposed. Firstly, a desired input torque for the wearer's lower limb is designed based on computed torque control (CTC). A nonlinear disturbance observer (NDO) is used to assess the lower limb muscle torque. Subtract the estimated muscle torque from the desired input torque, the exoskeleton only provides the remaining torque through interaction torque. Then, the interaction torque tracking problem can be converted to the exoskeleton trajectory tracking problem by using the spring-damper like dynamics model of the interaction force. A flexible boundary prescribed performance controller (PPC) is designed for the exoskeleton to achieve fast and accurate trajectory tracking. The coupled wearer-exoskeleton system is established in SolidWorks and imported to MATLAB/Simulink with SimMechanics. The AITAAN controller's effectiveness and superiority were then verified through co-simulations.
本文提出了一种基于自适应交互扭矩的按需辅助（AITAAN）控制方法，用于下肢康复外骨骼。首先，根据计算力矩控制（CTC）设计穿戴者下肢的期望输入扭矩。使用非线性干扰观测器（NDO）评估下肢肌肉扭矩。从期望输入扭矩中减去估计的肌肉扭矩，外骨骼仅通过交互扭矩提供剩余的扭矩。然后，通过交互力的弹簧阻尼类似动力学模型，可以将交互扭矩跟踪问题转换为外骨骼轨迹跟踪问题。为外骨骼设计了灵活的边界预定性能控制器（PPC），以实现快速准确的轨迹跟踪。在 SolidWorks 中建立了耦合的穿戴者-外骨骼系统，并使用 SimMechanics 将其导入 MATLAB/Simulink。然后通过协同仿真验证了 AITAAN 控制器的有效性和优越性。
