Lower Limbs Exoskeleton Control Strategy Based On Optimized Compliance Algorithm

Abstract

Aiming at achieving the compliance control of lower limbs exoskeleton, a compliant control strategy basing on optimized compliance algorithm was proposed. The motion trajectory of human body was collected by using inertial sensors and electromyography sensors, and the information is taken as the reference information to the exoskeleton robot. By introducing muscle activation degree as the feedforward loop to offset the hysteresis phenomenon which is shown in the process of movement, the following movement achieved compliant. The feasibility of this control method is both verified on the simulation software platform and physical prototype. The experimental results show that this control method is effective and feasible in the lower limbs exoskeleton system.