Journal of Bionic Engineering ›› 2019, Vol. 16 ›› Issue (4): 663-673.doi: 10.1007/s42235-019-0053-0

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Comparison of Control Techniques in a Weight Lifting Exoskeleton

Irving Rosales-Díaz1, Jesus Ricardo López-Gutiérrez2*, Angel Eduardo Zamora Suárez1, Sergio Rosario Salazar2, Antonio Osorio-Cordero1, Hipólito Aguilar-Sierra3, Rogelio Lozano1,4   

  1. 1. CINVESTAV, Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, 07360, Mexico City, Mexico
    2. CONACYT-CINVESTAV, Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, 07360, Mexico City, Mexico
    3. Polytechnic University of Tulancingo, St. Ingenierias 100, Col. Huapalcalco, 43629, Tulancingo, Hidalgo, Mexico
    4. Centre de Recherches de Royalieu, UTC-HEUDIASyC, Compiegne, 60205, France

  • 收稿日期:2018-11-28 修回日期:2019-05-09 接受日期:2019-06-11 出版日期:2019-07-10 发布日期:2019-10-14
  • 通讯作者: Jesus Ricardo López-Gutiérrez E-mail:rrricardooolopez@gmail.com
  • 作者简介:Irving Rosales-Díaz, Jesus Ricardo López-Gutiérrez, Angel Eduardo Zamora Suárez, Sergio Rosario Salazar, Antonio Osorio-Cordero, Hipólito Aguilar-Sierra, Rogelio Lozano

Comparison of Control Techniques in a Weight Lifting Exoskeleton

Irving Rosales-Díaz1, Jesus Ricardo López-Gutiérrez2*, Angel Eduardo Zamora Suárez1, Sergio Rosario Salazar2, Antonio Osorio-Cordero1, Hipólito Aguilar-Sierra3, Rogelio Lozano1,4   


  1. 1. CINVESTAV, Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, 07360, Mexico City, Mexico
    2. CONACYT-CINVESTAV, Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, 07360, Mexico City, Mexico
    3. Polytechnic University of Tulancingo, St. Ingenierias 100, Col. Huapalcalco, 43629, Tulancingo, Hidalgo, Mexico
    4. Centre de Recherches de Royalieu, UTC-HEUDIASyC, Compiegne, 60205, France

  • Received:2018-11-28 Revised:2019-05-09 Accepted:2019-06-11 Online:2019-07-10 Published:2019-10-14
  • Contact: Jesus Ricardo López-Gutiérrez E-mail:rrricardooolopez@gmail.com
  • About author:Irving Rosales-Díaz, Jesus Ricardo López-Gutiérrez, Angel Eduardo Zamora Suárez, Sergio Rosario Salazar, Antonio Osorio-Cordero, Hipólito Aguilar-Sierra, Rogelio Lozano

摘要: The back pain is the most common injury in human activities where heavy objects must be lifted or must be suspended for a long time. A weight lifting exoskeleton also known as force augmentation exoskeleton is designed to reduce the strain on the back and the limbs and reduce the risk to suffer injuries. On the other hand, different kinds of controllers have been implemented to achieve whit this goal, for example, a conventional PD Control, PD Control with Gravity Compensation, PD Control with Adaptive Desired Gravity Compensation and PD Control with Robust Compensator. This paper aims to evaluate and compare the performance from the previously cited controllers used to reduce the strain in the back, through the implementation of each controller in a three Degrees Of Freedom (DOF) exoskeleton powered by pneumatic muscle actuators; some numerical simulations as well as experimental trials have been conducted and three different performance indices were used in order to determine the effectiveness of each one with respect to the simple PD controller when the mass to be lifted is unknown.


关键词: augmenting force device, exoskeleton robot, pneumatic artificial muscles, adaptive control, robust control

Abstract: The back pain is the most common injury in human activities where heavy objects must be lifted or must be suspended for a long time. A weight lifting exoskeleton also known as force augmentation exoskeleton is designed to reduce the strain on the back and the limbs and reduce the risk to suffer injuries. On the other hand, different kinds of controllers have been implemented to achieve whit this goal, for example, a conventional PD Control, PD Control with Gravity Compensation, PD Control with Adaptive Desired Gravity Compensation and PD Control with Robust Compensator. This paper aims to evaluate and compare the performance from the previously cited controllers used to reduce the strain in the back, through the implementation of each controller in a three Degrees Of Freedom (DOF) exoskeleton powered by pneumatic muscle actuators; some numerical simulations as well as experimental trials have been conducted and three different performance indices were used in order to determine the effectiveness of each one with respect to the simple PD controller when the mass to be lifted is unknown.


Key words: augmenting force device, exoskeleton robot, pneumatic artificial muscles, adaptive control, robust control