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Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic
Shan Chen1,2, Muye Lu1,2, Fangfang Dong1,3
1School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China.
Applied Bionics and Biomechanics
|May 9, 2022
Summary
This study introduces a new multiphase dynamic modeling method for wearable lower limb hydraulic exoskeletons, improving control for heavy load transport. The advanced modeling and control enhance human-machine interaction performance.
Area of Science:
- Robotics
- Biomechanics
- Control Systems Engineering
Background:
- Wearable lower limb hydraulic exoskeletons enhance human performance in load transportation.
- Modeling these exoskeletons is challenging due to nonlinear and phase-dependent dynamics.
Purpose of the Study:
- To present a generalized multiphase dynamic modeling method for hydraulic exoskeletons.
- To design advanced controllers addressing nonlinearities and uncertainties for improved human-machine interaction.
Main Methods:
- Developed a generalized multiphase dynamic modeling approach using a higher-dimensional model and holonomic constraints.
- Designed MIMO adaptive robust cascade force controllers (ARCFC) for both double and single leg support phases.
- Introduced a torque allocation method for overactuated systems during double leg support.
Main Results:
- The proposed modeling method simplifies analysis across arbitrary walking phases, including closed-chain dynamics.
- ARCFC demonstrated effective control, addressing high-order nonlinearities and modeling uncertainties.
- Simulations verified superior human-machine interaction force control performance.
Conclusions:
- The generalized multiphase dynamic modeling method offers a simpler and more applicable approach compared to traditional independent phase modeling.
- The developed controllers effectively manage complex dynamics and uncertainties in hydraulic exoskeletons.
- The study validates a robust control scheme for enhanced performance in wearable lower limb assistive devices.
