Simulation Research of Exoskeleton Suit Based on Sensitivity Amplification Control

Exoskeleton suit is a kind of human-machine robot, which combines the humans intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains and have a broadly apply area. Though many exoskeleton suits has been developed, there need many compl...

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Bibliographic Details
Published in2007 IEEE International Conference on Automation and Logistics pp. 1353 - 1357
Main Authors Zhiyong Yang, Lihua Gui, Xiuxia Yang, Wenjin Gu, Yuanshan Zhang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2007
Subjects
Control systems
Exoskeleton Suit
Exoskeletons
Human-Machine
Humans
Intelligent robots
Intelligent sensors
Legged locomotion
Man machine systems
Power Assist
Power system modeling
Robot sensing systems
Sensor systems
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Summary:Exoskeleton suit is a kind of human-machine robot, which combines the humans intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains and have a broadly apply area. Though many exoskeleton suits has been developed, there need many complex sensors between the pilot and the exoskeleton system, which decrease the comfort of the pilot. Sensitivity amplification control (SAC) is a method applied in exoskeleton system without any sensors between the pilot and the exoskeleton. In this paper simulation research was made to verify the feasibility of SAC include a simple 1-dof model and a swing phase model of 3-dof. A PID controller was taken to describe the human-machine interface model. Simulation results show the human only need to exert a scale-down version torque compared with the actuator and decrease the power consumes of the pilot.
ISBN:1424415314
9781424415311
1424415306
9781424415304
ISSN:2161-8151
2161-816X
DOI:10.1109/ICAL.2007.4338780