Dynamic Model and Motion Control Analysis of the Power Assist Intelligence Leg

In this paper, we analyse a power assist system for leg which is in physical contact with the mechanism, with the goal of reducing human effort to do the task. The work presented is developing a mechanism worn by humans to increase human strength during activities of daily life. There are several problems in this project. First, the structure problem is studied using ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem, compliance control, is investigated. The input to the system is derived from the contact forces between the assistant legs and the human legs. Force control involves the direct command and measurement of force values. The system is expected to have powerful impacts on many applications during activities of daily life. This paper introduces the problems and analysis the compliant control method of the system, and gives a broad overview of the power assist intelligence leg project