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Method to Measure Tone of Axial and Proximal Muscle
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Research on exoskeleton compliance control strategy based on dual interaction torque split phase control method.

Liangchuang Liao1,2, Guoan Zhang3, Mingwei Hu2

  • 1Southeast University, Nanjing, Jiangsu, China.

Technology and Health Care : Official Journal of the European Society for Engineering and Medicine
|May 31, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a novel exoskeleton compliance control strategy using dual interaction torque phase separation. This method enhances human-robot coordination and stability during walking by effectively managing joint torque.

Keywords:
Exoskeleton robotscompliance controlpattern recognition

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Area of Science:

  • Robotics
  • Biomechanics
  • Control Systems

Background:

  • Human gait pattern recognition and compliance control are crucial for effective human-exoskeleton robot interaction.
  • Achieving high coordination and assistance requires seamless integration of robotic systems with human movements.

Purpose of the Study:

  • To improve exoskeleton robot adaptability to the human body.
  • To propose a novel exoskeleton compliance control strategy based on dual interaction torque phase separation.

Main Methods:

  • A support phase and swing phase split control strategy utilizing dual interaction torque.
  • Model-based control for the support phase using human joint interaction forces.
  • Torque closed-loop control for the swing phase using exoskeleton joint interaction forces.

Main Results:

  • A lower limb exoskeleton knee joint testing platform was developed.
  • The effectiveness of human gait recognition, interaction force identification, and compliance control was verified.
  • The proposed control method demonstrated effective joint torque adjustment.

Conclusions:

  • The developed control method enables exoskeleton robots to maintain balance and stability throughout the walking phase.
  • This technology enhances human-machine coupling system compliance control.