Lower extremity exoskeleton is a kind of wearable robot and is used both in medical and industrial applications for different purposes. In the medical field it is used as a piece of therapeutic equipment and in the industry especially in defense, to carry heavy loads. This paper deals with the analysis of the performance of super twisting sliding mode controller (STSMC) on tracking the motion of the wearer by the lower extremity exoskeleton using automatic dynamic analysis of mechanical systems (ADAMS)–MATLAB co-simulation during walking and step climbing and the results are compared with a conventional PID controller. The model of the lower extremity exoskeleton is developed by solid-works software and the model of the human body is done with ADAMS software. Super twisting sliding mode controller (STSMC) is designed and simulated with Simulink. This paper also aims to develop a mathematical model of the system and analyze the performance of STSMC to control hip, knee, and ankle movements and also to point out the advantages of the ADAMS–MATLAB co-simulation over the conventional methods of modeling and simulation analysis of the controller to control the exoskeleton. Stability analysis of the controller is also done.

中文翻译：

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下肢外骨骼中ADAMS–MATLAB联合仿真的超扭曲滑模控制器性能分析

下肢外骨骼是一种可穿戴机器人，可在医疗和工业应用中用于不同目的。在医学领域，它被用作治疗设备，在工业中，特别是在国防领域，它可以承载重物。本文采用机械系统自动动态分析（ADAMS）–MATLAB协同模拟步行和爬坡过程中超扭曲滑模控制器（STSMC）在下肢外骨骼跟踪穿戴者运动方面的性能分析并将结果与​​常规PID控制器进行比较。下肢外骨骼模型是通过SolidWorks软件开发的，而人体模型是通过ADAMS软件完成的。使用Simulink设计和仿真了超级扭曲滑模控制器（STSMC）。本文还旨在开发该系统的数学模型并分析STSMC控制臀部，膝盖和脚踝运动的性能，并指出ADAMS–MATLAB协同仿真相对于常规建模和仿真方法的优势。分析控制器以控制外骨骼。控制器的稳定性分析也已完成。