Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

• Published in: International journal of advanced robotic systems Vol. 13; no. 5
• Main Authors: Zhu, Shiqiang, Jin, Xinglai, Yao, Bin, Chen, Qingcheng, Pei, Xiang, Pan, Zhongqiang
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 11.10.2016; Sage Publications Ltd; SAGE Publishing
• Subjects: Anthropomorphism; Computer simulation; Control stability; Control systems design; Controllers; Cooperation; Electromyography; Exoskeletons; Jacobi matrix method; Jacobian matrix; Kinematics; Least squares method; Methods; Neural networks; Nonlinear control; Radial basis function; Robots; Robust control; Sensors; Sliding mode control; Stability analysis; Surface stability; Tracking; China; lower extremity exoskeleton; Human–robot cooperation; RBF neural network; inverse Jacobian matrix; non-linear sliding mode control; saturation function

This article presents a human–robot cooperation controller towards the lower extremity exoskeleton which aims to improve the tracking performance of the exoskeleton and reduce the human–robot interaction force. Radial basis function neural network is introduced to model the human–machine interaction...