The Design And Realization Of The Power Assisted Servo System

Wearable power assisted servo system is one of the relatively popular up-comingtechniques. It is a wearable exoskeleton uniform which makes the wearer as the maincontroller, and makes exoskeletons as the main output force. This field includes robotics,control theory, communication techniques, material techniques, micro-energytechniques and some other areas. Wearable power assisted servo system makes a perfectcombination of the advantages of human and robots, for example, the human’sintelligence and the robots’ strong body. Thus, in such a way it can help humans tocomplete missions which are very difficult for them to finish alone. Right now, peoplein different fields pay more and more attention to exoskeleton technology. From theperspective of social usage point of view, once exoskeleton technology becomes mature,it would be widely applied to many fields, makes human’s life much more convenient.This paper first introduced the current research state of wearable power assistedservo system and some potential issues in this field. Based on these problems, the paperindicated the main research contents and the key technique problems need to be solved.Then the paper made a general case analysis and design of the system’s mechanicalstructure, perception module, and human gait regularity control scheme and embeddedimplementation platform. Followed by constructing mathematical models of the wholeexoskeleton’s mechanical system and hydraulic pressure control system and based onhuman gait regularity, this model also designed different controllers with differentactions gait pattern. Simulation results shown that this control method could conformthe human’s normal angular displacement of knee while walking, thus it satisfied therequirement of human-machine coordination. Then this article made a detailintroduction and explanations about the implementation of the control algorithmplatform which is also the embedded software and hardware platform after that, controlsystem’s instructions implementation with respect to executive body were achieved byusing this platform. Meanwhile, data collecting and displaying module which enabledthe sample machine to perform data analyses and instant storage have been completedbased on previous works. Finally, we performed a demonstration with the sample machine in practice, analyzed the system performance when the system working indifferent moving patterns and different loads’ all working. Research results shown thatthis design of wearable power assisted servo system can reach of goal of coupling manand machine and give a power and walking assist for human.This paper completes the prime requirements of the research work of wearablepower assisted servo system. During this project’s performing process, we made aconclusion for relating project’s experiences, verified this system’s practicality andfeasibility, and meanwhile also detected some new key technical problems, which isusable for future works and finding new directions.