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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Control of Exoskeletons Inspired by Fictitious Gain in Human Model
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Control of Exoskeletons Inspired by Fictitious Gain in Human Model

机译：虚拟模型在人体模型中对外骨骼的控制

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摘要

A human wearing an exoskeleton-type assistive device results in a parallel control system that includes two controllers: an exoskeleton controller and a human brain that includes the spinal cord and the cerebrum. Unknown and complicated characteristics of the brain dynamically interact with the exoskeleton controller, which makes the controller design challenging. In this paper, the motion control system of a human is regarded as a feedback control loop that consists of the brain, muscles, and the dynamics of the extended human body. The brain is modeled as a control algorithm amplified by a fictitious gain (FG). The FG is adjusted to compensate for characteristic changes in the muscle and human body dynamics due to physical impairment, varying load, or any other causes. In this paper, an exoskeleton controller that realizes the FG is designed, and its performance and robustness are discussed.
机译：佩戴外骨骼型辅助设备的人会得到一个并行控制系统，该系统包括两个控制器：外骨骼控制器和人脑，后者包括脊髓和大脑。大脑未知和复杂的特征会与外骨骼控制器动态交互，这使得控制器设计具有挑战性。在本文中，人类的运动控制系统被视为由大脑，肌肉和扩展的人体动力学组成的反馈控制环。将大脑建模为通过虚拟增益（FG）放大的控制算法。调整FG可以补偿由于身体损伤，负荷变化或任何其他原因引起的肌肉和人体动力学特征变化。本文设计了一种实现FG的外骨骼控制器，并对其性能和鲁棒性进行了讨论。

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