Design of fuzzy adaptive synovial control system for lower limb exoskeleton

摘要

When the user wears the lower limbs to help the exoskeleton walk, there is bound to be human-computer interaction. If the following performance of the lower limb booster exoskeleton is not good, there is a large error, lag or delay, which will affect the user's action, and even fail to achieve the boosting effect. In this paper, the unilateral lower limb of the exoskeleton robot with lower limbs is used as the research object, and its dynamic model is established by Lagrange method. Aiming at the serious problem of chattering in traditional synovial control, a fuzzy adaptive synovial control system was designed, and a simulation experiment of trajectory following of unilateral lower limb exoskeleton was carried out. The simulation results show that the sliding mode parameter adjustment mechanism based on fuzzy adaptive can effectively suppress the chattering of the system.