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A System for Controlling Electric Drives of the Lower Extremities of an Exoskeleton Based on a Two-Term Regulator with a Neural Network

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Abstract

A two-term (TT) regulator with a compensator based on a neural network (NN) is proposed for use in the system of controlling electric drives of the lower extremities of an exoskeleton to compensate uncertain changes in gravity and friction in the joints of the skeleton’s mechanical legs. The mathematical model of the lower extremities (two legs with five links) is drawn on a sagittal plane, taking nonlinear elements and external disturbances into account. Results of modeling the controlled movement of the exoskeleton in the sagittal plane are provided. According to the modeling results, this exoskeleton will enable the users to rhythmically move their hip and knee joints.

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Authors and Affiliations

  1. Department of Robotics and Industrial Automation, St. Petersburg Electrotechnical University, 197376, , St. Petersburg, Russia

    M. P. Belov, L. P. Kozlova & D. D. Truong

Authors
  1. M. P. Belov
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  2. L. P. Kozlova
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  3. D. D. Truong
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Correspondence to M. P. Belov.

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Translated by S. Kuznetsov

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Belov, M.P., Kozlova, L.P. & Truong, D.D. A System for Controlling Electric Drives of the Lower Extremities of an Exoskeleton Based on a Two-Term Regulator with a Neural Network. Russ. Electr. Engin. 92, 154–158 (2021). https://doi.org/10.3103/S1068371221030020

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  • DOI: https://doi.org/10.3103/S1068371221030020

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