Adaptive control of lower limb robot based on human comfort under minimum inertial parameters

摘要

In this paper, aiming at the comfort problem of wearing rehabilitation training robot for different patients with lower extremity dyskinesia, the real human gait data as the reference trajectory is proposed, and a control method based on the minimum inertia parameter with the comfort of human wearable robot as the objective function is designed. To realize the real-time tracking of the reference trajectory by the robot trajectory of lower limb rehabilitation training, the NOKOV motion capture system is used to collect human gait data. The Lagrange method is used to establish the dynamics model of the single leg of the lower limb rehabilitation training robot. Based on the minimum inertia parameters, the adaptive controller with comfort as the objective function is designed. Finally, the effectiveness of this method is verified by simulation based on experimental data.