Research on Joint-Assisted Exoskeleton Control System of Lower Extremity in Active Spacesuit

摘要

In order to meet the needs of future extravehicular activities, a concept of active spacesuit based on lower extremity joint-assisted exoskeleton technology is proposed. Firstly, we design the mechanical structure of exoskeleton, obtain the desired trajectory of lower extremity and the Preisach model of Active Spacesuit by measurement experiments, and establish the two-link dynamic model by Newton-Euler method. Then, we present the RBF neural network control based on computed torque method which control the linear dynamic model, and RBF neural network controller compensates the unknown uncertainties of system. Finally, the prototype of joint-assisted exoskeleton robot is showed and tested, and the validity of the control algorithm is verified by the joint simulation of MATLAB and ADAMS. The experimental results indict that RBF neural network can improve the control precision when compare with the traditional computed torque method.