Simulation of model-based impedance control applied to a biomechatronic exoskeleton with shape memory alloy actuators

摘要

This work describes the implementation of impedance control with shape memory alloy (SMA) actuators in a lower limb exoskeleton. Impedance control can be embedded in robotic systems that physically interact with a human user or the environment. In this context, the use of SMA actuators with impedance control to drive the hip joint of a lower limb exoskeleton is assessed. Preliminary simulation results indicate the feasibility of physical implementation of the controller. More precise simulations and prototype testing are being developed before definite conclusions are drawn. System description and modeling is presented, followed by the controller design. Simulations results are presented and discussed.