Title :
Total cource locomotion control of assist walking exoskeleton leg
Author :
Yang Xiuxia ; Zhang Yi ; Xiao Zhicai ; Yang Zhiyong
Author_Institution :
Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China
Abstract :
Based on the analyze of the assist walking exoskeleton leg behavior characteristics, the total cource locomotion can be divided into swing and stance two phase. To the stance phase, the position control based on fixed gravity compensation is used. To the swing phase, the fast terminal sliding mode control is used to design the virtual torque controller. Theoretical analyse and simulation results test the feasibility and validity of this control method.
Keywords :
compensation; gait analysis; handicapped aids; legged locomotion; position control; torque control; variable structure systems; fast terminal sliding mode control; fixed gravity compensation based position control; swing phase; total cource locomotion control; virtual torque controller; walking exoskeleton leg assistance; Equations; Exoskeletons; Gravity; Humans; Mathematical model; Position control; Torque; Assist Walking Exoskeleton Leg; Fast Terminal Sliding Mode Control; Position Control; Total Cource Locomotion Control; Virtual Torque Controller;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
