| Autor: |
Li Qing, Weipeng Zhang, Liu Rongshuai, Yuxi Feng |
| Rok vydání: |
2019 |
| Předmět: |
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| Zdroj: |
2019 4th International Conference on Control and Robotics Engineering (ICCRE). |
| Popis: |
In this paper, an exoskeleton robot used for lower extremity walking-assisted is designed. A kind of SAC force servo hybrid control strategy is proposed. In this strategy, the walking-assisted exoskeleton robot can move followed by the human body in a low velocity and other time can provide an output torque for the human body. This function is realized by judging the rotate velocity of hip joint and then switching the control strategy between SAC control strategy and auxiliary force servo control strategy. This kind of SAC force servo hybrid control strategy is verified effective and feasible by walking-assisted test. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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