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Summary

This study introduces advanced control methods for Bowden cable exoskeletons, enhancing human assistance accuracy. The novel approach improves exoskeleton performance by addressing interaction dynamics and human motion disturbances.

Keywords:
angle predictiondisturbance observerexoskeletonforce loadinghuman–exoskeleton interaction

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Area of Science:

  • Robotics
  • Biomechanics
  • Control Systems

Background:

  • Exoskeletons utilizing Bowden cables offer lightweight and flexible human assistance.
  • Exoskeleton performance is constrained by structural limitations and human-exoskeleton interaction dynamics.
  • Existing mathematical models analyze human-exoskeleton systems but require improved control strategies.

Purpose of the Study:

  • To enhance the auxiliary accuracy of Bowden cable-based exoskeletons.
  • To develop advanced control methods addressing system limitations and human interaction.
  • To validate the proposed control strategies through experimental verification.

Main Methods:

  • A disturbance observer was implemented for inner-loop compensation of parameter perturbations.
  • A human-exoskeleton interaction feedforward model was integrated into admittance control.
  • An encoder-based angle prediction method was developed to mitigate human motion-induced force loading.

Main Results:

  • The proposed control methods effectively compensated for disturbances and parameter variations.
  • Integration of the feedforward model overcame limitations from Bowden cable friction and interaction stiffness changes.
  • The angle prediction method successfully reduced force loading disturbances caused by human motion.

Conclusions:

  • The developed control strategies significantly improve the accuracy and performance of Bowden cable exoskeletons.
  • The study demonstrates a viable approach to enhance human-exoskeleton interaction and assistive capabilities.
  • Experimental results confirm the effectiveness of the proposed methods for practical exoskeleton applications.