Abstract The design of a phase-based robust oscillator for wearable robots, that could assist humans performing periodic or repetitive tasks, is presented in this paper. The bounds on perturbations, that guaranteed the stability of the output for the phase oscillator controller, were identified and the Lyapunov redesign method was applied to construct a robust controller using a bounding function. The robust controller produced a bounded control signal to modify the amplitude and frequency of the resulting second-order oscillator to modulate the stiffness and damping properties. In this paper, the focus is on the mathematical modeling of the controller, its dynamic stability and robustness for human–robot application. The proposed approach was verified through a simple pendulum experiment. The results provided evidence that a better limit cycle, with a controlled radial spread of the steady state, was obtained with Lyapunov redesigned phase oscillator. Finally, the potential of the proposed approach for hip assistance in a healthy subject wearing HeSa (Hip Exoskeleton for Superior Assistance) during periodic activities are discussed with preliminary results.

中文翻译：

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用于可穿戴机器人系统的稳健相位振荡器设计

摘要 本文介绍了一种用于可穿戴机器人的基于相位的鲁棒振荡器的设计，该振荡器可以帮助人类执行周期性或重复性任务。确定了保证相位振荡器控制器输出稳定性的扰动边界，并应用 Lyapunov 重新设计方法来构建使用边界函数的鲁棒控制器。鲁棒控制器产生有界控制信号以修改所得二阶振荡器的幅度和频率以调制刚度和阻尼特性。在本文中，重点是控制器的数学建模，其动态稳定性和人机应用的鲁棒性。通过一个简单的钟摆实验验证了所提出的方法。结果提供的证据表明，更好的极限环，用李雅普诺夫重新设计的相位振荡器获得了稳态的受控径向扩展。最后，讨论了在定期活动期间佩戴 HeSa（用于高级辅助的髋关节外骨骼）的健康受试者的髋关节辅助方法的潜力，并讨论了初步结果。