Self-adaptive robust force control method and device for wearable waist assisting exoskeleton

• Main Authors: BAO SHUANG, ZHANG XINFU, CHEN SHAN, SUN JINGYU, DONG FANGFANG, HAN JIANG
• Format: Patent
• Language: Chinese; English
• Published: 25.07.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to the technical field of exoskeleton control, and discloses a self-adaptive robust force control method and device for a wearable waist assisting exoskeleton. The self-adaptive robust force control method comprises the following steps: initializing a waist assisting exoskeleton; establishing a physical model and converting the physical model into a state equation; related expressions in the physical model are extracted, and kinetic equations related to control input and output are obtained; angles, angular velocities and angular accelerations of all joints of a human body and exoskeleton hip joints and torques at the hip joints of the human body are used as input quantities, and motor driving torques are output; the motor driving torque is converted into the output torque of a control current control motor, and the waist power-assisted exoskeleton joint is driven to rotate. According to the control method applied by the invention, the influence of multi-joint strong coupling and model u