Human-machine coupling control of exoskeleton intelligent load carry robot

摘要

Hydraulic drive system of exoskeleton intelligent load carry robot is founded in this paper firstly. And then, a hydraulic position feedback control loop is established using human-machine coupling control method. Furthermore, a human-machine coupling control system is designed based on PI control and lead correction network combination control methods. Finally, performance of the hydraulic control system is tested under different walking carry load condition and hydraulic oil source pressure. Experimental results show that the human-machine coupling control system can achieve exoskeleton hydraulic actuator precision servo control when wearing human walks with heavy load.