Abstract

A two-term (TT) regulator with a compensator based on a neural network (NN) is proposed for use in the system of controlling electric drives of the lower extremities of an exoskeleton to compensate uncertain changes in gravity and friction in the joints of the skeleton’s mechanical legs. The mathematical model of the lower extremities (two legs with five links) is drawn on a sagittal plane, taking nonlinear elements and external disturbances into account. Results of modeling the controlled movement of the exoskeleton in the sagittal plane are provided. According to the modeling results, this exoskeleton will enable the users to rhythmically move their hip and knee joints.

中文翻译：

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基于带神经网络的二项调节器的外骨骼下肢电力驱动控制系统

摘要

提出了一种带有基于神经网络 (NN) 补偿器的两项 (TT) 调节器，用于控制外骨骼下肢的电力驱动系统，以补偿关节中重力和摩擦的不确定变化。骷髅的机械腿。在矢状面上绘制下肢（两条腿五连杆）的数学模型，考虑了非线性因素和外部干扰。提供了外骨骼在矢状面中受控运动的建模结果。根据建模结果，这种外骨骼将使用户能够有节奏地移动他们的髋关节和膝关节。