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Tracking Control for a Lower Extremity Exoskeleton Based on Adaptive Dynamic Programing.

Qiying Su1, Zhongcai Pei1, Zhiyong Tang1

  • 1School of Automation Science and Electrical Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China.

Biomimetics (Basel, Switzerland)
|August 25, 2023
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Summary
This summary is machine-generated.

This study presents a new lower extremity exoskeleton for heavy lifting, controlled by an adaptive dynamic programming (ADP) algorithm. The system demonstrates effective tracking control for enhanced exoskeleton performance in demanding tasks.

Keywords:
adaptive dynamic programminglower extremity exoskeletontracking controlvalue iteration

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Area of Science:

  • Robotics
  • Biomechanics
  • Control Systems

Background:

  • Lower extremity exoskeletons are increasingly used in military, medical, and rehabilitation settings.
  • Existing exoskeletons face challenges in precise control for demanding tasks like heavy object carrying.

Purpose of the Study:

  • To introduce a novel lower extremity exoskeleton design for heavy object carrying.
  • To develop an optimal control strategy for this exoskeleton using an adaptive dynamic programming (ADP) algorithm.

Main Methods:

  • Designed a 12-degrees of freedom (DOF) lower extremity exoskeleton with hydraulic cylinder control.
  • Formulated the state equation and a performance index function for the exoskeleton system.
  • Implemented a value iteration adaptive dynamic programming (ADP) scheme to control the exoskeleton.

Main Results:

  • The proposed ADP algorithm achieved highly effective tracking control for the exoskeleton.
  • The control scheme demonstrated enhanced performance and functionality for heavy object carrying tasks.
  • The developed system shows significant potential for improving exoskeleton capabilities in demanding applications.

Conclusions:

  • The novel lower extremity exoskeleton design is suitable for heavy object carrying.
  • The adaptive dynamic programming (ADP) algorithm provides precise and efficient control for complex exoskeleton systems.
  • This research advances exoskeleton technology and control strategies for practical applications.