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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Development and Learning Control of a Human Limb With a Rehabilitation Exoskeleton
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Development and Learning Control of a Human Limb With a Rehabilitation Exoskeleton

机译：康复外骨骼对人肢体的发育和学习控制

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This paper describes a novel development of a lower limber exoskeleton for physical assistance and rehabilitation. The developed exoskeleton is a motorized leg device having a total of 4 DOF with hip, knee, and ankle actuated in the sagittal plane. The exoskeleton applies forces and learns the impedance parameters of both robot and human. An adaptive control scheme by incorporating learning control approaches into the exoskeleton system is developed to help the leg movement on a desired periodic trajectory and handle periodic uncertainties with known periods. The proposed control approach does not require a muscle model and can be proven to yield asymptotic stability for a nonlinear muscle model and an exoskeleton model in the presence of bounded nonlinear disturbances (e.g., spasticity and fatigue). The performance of the controller is demonstrated through closed-loop experiments on human subjects. The experiments illustrate the ability of the exoskeleton to enable the leg shank to track single and multiple period trajectories with different periods and ranges of motion.
机译：本文介绍了下肢外骨骼的新发展，用于身体上的协助和康复。发达的外骨骼是一种电动腿部装置，共有4个自由度，其髋，膝和脚踝在矢状面内致动。外骨骼施加力并学习机器人和人的阻抗参数。通过将学习控制方法结合到外骨骼系统中，开发了一种自适应控制方案，以帮助腿部按所需的周期性轨迹运动并处理已知周期的周期性不确定性。提出的控制方法不需要肌肉模型，并且可以证明在存在有限的非线性干扰（例如痉挛和疲劳）的情况下为非线性肌肉模型和外骨骼模型产生渐近稳定性。控制器的性能通过对人类受试者进行的闭环实验来证明。实验说明了外骨骼使腿部小腿跟踪具有不同周期和运动范围的单个和多个周期轨迹的能力。

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