A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons  

作　　者：Jing Deng Wenzheng Jiang Haibo Gao Yapeng Shi Mantian Li 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,150001,Heilongjiang,China [2]Shenzhen Academy of Aerospace Technology,Shenzhen,518063,China [3]Faculty of Computing,Harbin Institute of Technology,Harbin,150001,Heilongjiang,China [4]Institute of Intelligent Manufacturing Technology,Shenzhen Polytechnic University,Shenzhen,518055,China

出　　处：《Journal of Bionic Engineering》2024年第5期2184-2198,共15页仿生工程学报(英文版)

基　　金：supported by the China Postdoctoral Science Foundation(No.2020M672823);National Natural Science Foundation of China National Natural Science Foundation of China(No.52305072,U2013602);Natural Science Foundation of Hebei Province of China(No.E2022203095);Shenzhen Science and Technology Program(No.JSGG20201102152602007);Shenzhen Science and Technology Research and Development Foundation(No.JCYJ20190813171009236);Basic Scientific Research of Technology(No.JCKY2020603C009).

摘　　要：Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.

关 键 词：Hierarchical control Active power-assist Exoskeleton robots Dynamics feedforward Force distribution Feedback compensation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]