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Hybrid oscillator-based no-delay hip exoskeleton control for free walking assistance
Industrial Robot ( IF 1.8 ) Pub Date : 2021-07-27 , DOI: 10.1108/ir-02-2021-0038
Wei Yang 1 , Linghui Xu 2 , Linfan Yu 3 , Yuting Chen 4 , Zehao Yan 3 , Canjun Yang 2
Affiliation  

Purpose

Walking-aid exoskeletons can assist and protect effectively the group with lower limb muscle strength decline, workers, first responders and military personnel. However, there is almost no united control strategy that can effectively assist daily walking. This paper aims to propose a hybrid oscillators’ (HOs) model to adapt to irregular gait (IG) patterns (frequent alternation between walking and standing or rapid changing of walking speed, etc.) and generate compliant and no-delay assistive torque.

Design/methodology/approach

The proposed algorithm, HOs, combines adaptive oscillators (AOs) with phase oscillator through switching assistive mode depending on whether or not the AOs' predicting error of hip joint degree is exceeded our expectation. HOs can compensate for delay by predicting gait phase when in AOs mode. Several treadmill and free walking experiments are designed to test the adaptability and effectiveness of HOs model under IG.

Findings

The experimental results show that the assistive strategy based on the HOs is effective under IG patterns, and delay is compensated totally under quasiperiodic gait conditions where a smoother human–robot interaction (HRI) force and the reduction of HRI force peak are observed. Delay compensation is found very effective at improving the performance of the assistive exoskeleton.

Originality/value

A novel algorithm is proposed to improve the adaptability of a walking assist hip exoskeleton in daily walking as well as generate compliant, no-delay assistive torque when converging.



中文翻译:

用于自由行走辅助的基于混合振荡器的无延迟髋外骨骼控制

目的

助行器外骨骼可以有效帮助和保护下肢肌力下降的人群、工人、急救人员和军事人员。但是,几乎没有统一的控制策略可以有效辅助日常行走。本文旨在提出一种混合振荡器(HOs)模型,以适应不规则步态(IG)模式(步行和站立之间的频繁交替或步行速度的快速变化等)并产生顺应性和无延迟的辅助扭矩。

设计/方法/方法

所提出的算法 HO,根据 AO 对髋关节度数的预测误差是否超出我们的预期,通过切换辅助模式将自适应振荡器 (AO) 与相位振荡器相结合。当处于 AOs 模式时,HO 可以通过预测步态相位来补偿延迟。设计了几个跑步机和自由行走实验来测试 IG 下 HOs 模型的适应性和有效性。

发现

实验结果表明,基于 HO 的辅助策略在 IG 模式下是有效的,并且在准周期步态条件下完全补偿延迟,其中观察到更平滑的人机交互(HRI)力和 HRI 力峰值的减少。发现延迟补偿在提高辅助外骨骼的性能方面非常有效。

原创性/价值

提出了一种新的算法,以提高步行辅助髋外骨骼在日常步行中的适应性,并在收敛时产生柔顺、无延迟的辅助扭矩。

更新日期:2021-07-27
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