Weight-assisted exoskeleton knee joint plunger cylinder control optimization

Abstract

In order to solve the problem of large jitter in the knee joint during the squatting process of the self-developed weight-assisted exoskeleton system, the AMESim-based knee plunger cylinder simulation model was established, the causes of jitter were analyzed from the simulation perspective, and the control strategy of the knee plunger cylinder was optimized and simulated. The results show that the optimized control strategy can realize the squatting motion of the exoskeleton system smoothly, and the test verification was carried out on the prototype. The results show that the optimized control strategy can better realize the human–machine flexibility of the exoskeleton squatting process, solve the problem of large jitter, and provide technical support for the realization of the exoskeleton movement down the stairs.

Keywords

• Exoskeleton
• AMESim
• Control