Design and Control Technique Research of Exoskeleton Suit

摘要

Naval Aeronautical Engineering Institute Exoskeleton Suit (NAEIES) is a kind of human-machine robot which combines the human's intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains. A prototype of NAEIES is proposed in this paper. When human walking, his (her) forearm has a similar motion trajectory with knee joint. So the forearm motion is measured by a potentiometer as the control signal of the knee joint. The hip joint motion is realized by a gas spring. This is the simplest method to realize the motion of NAEIES. The principle of the method was illustrate in the paper and for the further study a control techniques based on the feedback of angle acceleration is proposed and simulated with the one-Dof and two-Dof model of NAEIES leg.