Design and Research of a Magnetorheological Robot Calf Based on Fuzzy Switchable Damping Control

摘要

Overcoming the effects of terrestrial force on the bot and the person who wears it, and to impart compliant characteristics to the robot, a new calf structure for a lower limb exoskeleton rehabilitation robot has been designed by combining the advantages of Magnetorheological Dampers(MRD) characterised by human calf muscles. A mathematical model of the Variable Stiffness and Damping Actuator(VSDA) was established, and its working principle was analyzed. A fuzzy controller was designed, integrating fuzzy control with switched damping control. Comparative simulation analysis revealed that fuzzy switched damping control offers better performance in terms of human stability and compliance.