Weight-assisted exoskeleton knee joint plunger cylinder control optimization
In order to solve the problem of large jitter in the knee joint during the squatting process of the self-developed weight-assisted exoskeleton system, the AMESim-based knee plunger cylinder simulation model was established, the causes of jitter were analyzed from the simulation perspective, and the...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2022-01-01
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| Series: | Journal of King Saud University: Engineering Sciences |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1018363921001707 |
| _version_ | 1818978445880721408 |
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| author | Taokang Xiao Yong Zhang Ligang Qiang Lin Li Chao Guo |
| author_facet | Taokang Xiao Yong Zhang Ligang Qiang Lin Li Chao Guo |
| author_sort | Taokang Xiao |
| collection | DOAJ |
| description | In order to solve the problem of large jitter in the knee joint during the squatting process of the self-developed weight-assisted exoskeleton system, the AMESim-based knee plunger cylinder simulation model was established, the causes of jitter were analyzed from the simulation perspective, and the control strategy of the knee plunger cylinder was optimized and simulated. The results show that the optimized control strategy can realize the squatting motion of the exoskeleton system smoothly, and the test verification was carried out on the prototype. The results show that the optimized control strategy can better realize the human–machine flexibility of the exoskeleton squatting process, solve the problem of large jitter, and provide technical support for the realization of the exoskeleton movement down the stairs. |
| first_indexed | 2024-12-20T16:43:45Z |
| format | Article |
| id | doaj.art-4b3aa3b743cd46febb68411aac7e6df3 |
| institution | Directory Open Access Journal |
| issn | 1018-3639 |
| language | English |
| last_indexed | 2024-12-20T16:43:45Z |
| publishDate | 2022-01-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Journal of King Saud University: Engineering Sciences |
| spelling | doaj.art-4b3aa3b743cd46febb68411aac7e6df32022-12-21T19:32:58ZengElsevierJournal of King Saud University: Engineering Sciences1018-36392022-01-013411016Weight-assisted exoskeleton knee joint plunger cylinder control optimizationTaokang Xiao0Yong Zhang1Ligang Qiang2Lin Li3Chao Guo4Corresponding author.; Aerospace Jiangnan Group Co. Ltd, Guizhou 550009, ChinaAerospace Jiangnan Group Co. Ltd, Guizhou 550009, ChinaAerospace Jiangnan Group Co. Ltd, Guizhou 550009, ChinaAerospace Jiangnan Group Co. Ltd, Guizhou 550009, ChinaAerospace Jiangnan Group Co. Ltd, Guizhou 550009, ChinaIn order to solve the problem of large jitter in the knee joint during the squatting process of the self-developed weight-assisted exoskeleton system, the AMESim-based knee plunger cylinder simulation model was established, the causes of jitter were analyzed from the simulation perspective, and the control strategy of the knee plunger cylinder was optimized and simulated. The results show that the optimized control strategy can realize the squatting motion of the exoskeleton system smoothly, and the test verification was carried out on the prototype. The results show that the optimized control strategy can better realize the human–machine flexibility of the exoskeleton squatting process, solve the problem of large jitter, and provide technical support for the realization of the exoskeleton movement down the stairs.http://www.sciencedirect.com/science/article/pii/S1018363921001707ExoskeletonAMESimControl |
| spellingShingle | Taokang Xiao Yong Zhang Ligang Qiang Lin Li Chao Guo Weight-assisted exoskeleton knee joint plunger cylinder control optimization Journal of King Saud University: Engineering Sciences Exoskeleton AMESim Control |
| title | Weight-assisted exoskeleton knee joint plunger cylinder control optimization |
| title_full | Weight-assisted exoskeleton knee joint plunger cylinder control optimization |
| title_fullStr | Weight-assisted exoskeleton knee joint plunger cylinder control optimization |
| title_full_unstemmed | Weight-assisted exoskeleton knee joint plunger cylinder control optimization |
| title_short | Weight-assisted exoskeleton knee joint plunger cylinder control optimization |
| title_sort | weight assisted exoskeleton knee joint plunger cylinder control optimization |
| topic | Exoskeleton AMESim Control |
| url | http://www.sciencedirect.com/science/article/pii/S1018363921001707 |
| work_keys_str_mv | AT taokangxiao weightassistedexoskeletonkneejointplungercylindercontroloptimization AT yongzhang weightassistedexoskeletonkneejointplungercylindercontroloptimization AT ligangqiang weightassistedexoskeletonkneejointplungercylindercontroloptimization AT linli weightassistedexoskeletonkneejointplungercylindercontroloptimization AT chaoguo weightassistedexoskeletonkneejointplungercylindercontroloptimization |