Analysis and Research on Multi-Joint Power-Assisted Exoskeleton*

In the control of exoskeleton system, the man-machine interaction can realize the auxiliary power effect of human host. In this paper, we study the interaction between human body simulation experiment and exoskeleton structure, and perceive the human body through the exoskeleton. And drive the motor to achieve synchronous action, so as to achieve the effect of assistance. This paper adopts the fuzzy adaptive PD/PID control algorithm to carry out comparative analysis by optimizing the theoretical analysis and experimental simulation of control, improving the synchronous effect of exoskeleton movement, and realizing the effective follow-up of exoskeleton. The basic components of exoskeleton robot include: mechanical structure, actuator, control system, sensing system, energy system and wearer. The bionic mechanical structure is in contact with the human body to share the weight of the human body or to enhance the human body’s motion ability; the actuator adopts the motor to help promote the movement of the mechanical structure; the control system processes the information of the sensing system and sends out the control information; the sensing system perceives the human body motion information; the energy system provides the energy source for the exoskeleton robot movement. Using Adams and Matlab simulation in joint position, dynamic analysis, optimization structure design. The power output of exoskeleton is approximately synchronous with human motion, its power can effectively assist human body, the man-machine interaction performance result shows well which improve the following control effect of the machine with human motion.