Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can des...

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Bibliographic Details
Published inDiscrete dynamics in nature and society Vol. 2021; pp. 1 - 10
Main Authors Qin, Cuifeng, Liu, Zuojun
Format Journal Article
LanguageEnglish
Published New York Hindawi 01.11.2021
John Wiley & Sons, Inc
Hindawi Limited
Subjects
Algebra
Analysis
Discrete event systems
Exoskeletons
Finite state machines
Gait
Methods
Rehabilitation
Robots
Safety
Walking
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Summary:Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.
ISSN:1026-0226
1607-887X
DOI:10.1155/2021/8538787