Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (3): 1021-103.doi: 10.1007/s42235-022-00302-0
Compliant Control of Lower Limb Rehabilitation Exoskeleton Robot Based on Flexible Transmission
Keping Liu1,2; Li Li1; Wanting Li1; Jian Gu1; Zhongbo Sun1
- 1 Department of Control Science and Engineering, Changchun University of Technology, Changchun 130012, China 2 Department of Electrical and Information Engineering, Jilin Engineering Normal University, Changchun 130052, China
Compliant Control of Lower Limb Rehabilitation Exoskeleton Robot Based on Flexible Transmission
Keping Liu1,2; Li Li1; Wanting Li1; Jian Gu1; Zhongbo Sun1
- 1 Department of Control Science and Engineering, Changchun University of Technology, Changchun 130012, China 2 Department of Electrical and Information Engineering, Jilin Engineering Normal University, Changchun 130052, China
摘要： To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.