Parameter Identification Based Sensitivity Amplification Control for Lower Extremity Exoskeleton

Abstract

Our goal of the Lower Extremity Exoskeleton project is to develop an automatic device which can enhance human strength and endurance during walking process. In order to reduce the amount of the sensors applied on the Exoskeleton and simplify the structure, we choose the (SAC) sensitivity amplification control as the control law. An accurate dynamics model of the Exoskeleton is required to design the controller which can make compliantly react according to the force between human and robot. In this paper, several experiments were designed to identify the dynamic parameters we need, including mass and inertia properties of the robot, dynamic friction properties of the hip and knee joint. Both the simulation result and experiment result show that the parameters we obtained through the experiments are accurate enough for the SAC control law.