文献类型：期刊文献

英文题名：On the control of lower extremity exoskeleton base on the interaction force of torso

作者：Jiang, Jinlin[1]; Wang, Yu[1]; Cao, Heng[1]; Zhu, Jun[2]; Zhu, Wenjie[3]; Jin, Li[3]

机构：[1] East China University of Science and Technology, School of Mechanical and Power Engineering, Shanghai, China; [2] Fudan University, Academy for Engineering and Technology, Shanghai, China; [3] Shanghai Aerospace Control Technology Institute, Shanghai, China

年份：2020

起止页码：90

外文期刊名：Proceedings - 2020 Chinese Automation Congress, CAC 2020

收录：EI(收录号：20210809954930)

基金：ACKNOWLEDGMENT This work was supported by the National Natural Science Foundation of China (NO.91748110 and Grant NO.51905104).

语种：英文

外文关键词：Biophysics - Exoskeleton (Robotics) - Man machine systems

摘要：This paper presents an ECUST Lower-extremity Exoskeleton (ELE-ROBOT) for augmenting human performance. Most exoskeletons calculate joint torques by using ground reaction forces from foot force sensors. However, this method becomes unreliable in the complex terrain environment. We propose a new control strategy by measuring the human-robot interaction forces using force sensors mounted on the wearer's torso, and placing only switches on the foot. The exoskeleton joint's torques are estimated by this measured human-robot interaction forces. The experiments were conducted to verify the feasibility of this control method, the wearer carried 35kg load, and walked on the treadmill at 1.3m/s with exoskeleton powered on or off, then the data was compared to the wearer's natural walking gait. The results show ELE-ROBOT can reduce a portion of the carried load that is exerted on the wearer significantly and trace the joints motion in real time. ? 2020 IEEE.