Abstract
To reduce the tracking error between the exo-skeleton and the human body, a control algorithm based on the admittance principle is proposed. The algorithm draws on the admittance characteristics of velocity and force in the process of moving objects. A man-machine coupling dynamics model is established and a reasonable control function is designed to shield the admittance characteristics of the exo-skeleton. The stability of the control algorithm is analyzed and the admittance parameters are optimized. The simulation results show that the tracking error between the exo-skeleton controlled by the optimized admittance and the calf of the human is 0.01°. The optimized admittance control can achieve more accurate motion tracking.
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Chen, W., Song, S., Fan, H., Zhao, M. (2018). Control of Lower Extremity Exo-skeleton Based on Admittance Method. In: Qiao, F., Patnaik, S., Wang, J. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2017. Advances in Intelligent Systems and Computing, vol 691. Springer, Cham. https://doi.org/10.1007/978-3-319-70990-1_66
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DOI: https://doi.org/10.1007/978-3-319-70990-1_66
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