Mechanical Design and Control Strategy for Hip Joint Power Assisting

Area of Science:

• Robotics
• Biomechanics
• Human-Robot Interaction

Background:

• Developing effective assistive systems requires precise mechanical design and control strategies that adapt to human biomechanics.
• Existing systems often struggle to seamlessly integrate with natural human joint movements, limiting their assistance capabilities.

Purpose of the Study:

• To design and validate an assistive system capable of matching human joint movement centers.
• To develop a control strategy based on interactive forces for intuitive human-robot collaboration.
• To verify the feasibility of movement intention detection and power assistance.

Main Methods:

• A 3-UPS parallel mechanism was employed to ensure the assistive system's instantaneous rotation center aligns with the human joint's center.
• A force sensory system was integrated to detect human movement intention.
• A control strategy model was established based on the detected interactive forces.
• An experimental platform was constructed to validate the system's performance.

Main Results:

• The study successfully demonstrated the alignment of the assistive system's rotation center with human joint movement.
• The force sensory system effectively detected human movement intentions.
• Experimental results validated the feasibility of the proposed movement intention detection and power assisting strategies.

Conclusions:

• The 3-UPS parallel mechanism is suitable for creating assistive systems that synchronize with human joint movements.
• Interactive force-based control strategies are effective for detecting user intention and providing power assistance.
• The developed system shows promise for enhancing human-robot interaction in assistive applications.