Integrated Design And Follow-up Control Of Hydraulic-driven Upper Extremity Exoskeleton

The exoskeleton is wearable robot that can enhance the power of the wearer in various environments.The research goal of power-assist exoskeleton is to make it become more powerful,faster and more comfortable wearing experience.So far,some of the key technical problems are still not achieved practical breakthrough.In this paper,the power-assist exoskeleton upper extremity exoskeleton is researched in both exoskeleton mechanical system and control algorithm,to improve the response speed of upper limb exoskeleton robot and relief wearer’s discomfort.The lightweight and integrated design of mechanical structure and hydraulic driving system of upper extremity exoskeleton are taken.And follow-up control is researched in this paper.The main research content of this paper on the subject including:1)Based on the key techniques and the direction of development in the areas of exoskeleton robot,the characteristics of the upper extremity exoskeleton and the constituent of upper extremity exoskeleton is introduced.And some exoskeleton’s problems are found on the first generation of upper extremity exoskeleton.2)According to exoskeleton’s design requirements and the basis of the analysis of the upper extremity exoskeleton,the lightweight and integrated design are taken on the new generation upper extremity exoskeleton.The analysis shows that the total mass of the new generation of upper limb lighter than that of the first generation,and the moment of inertia of the new generation upper extremity exoskeleton is also reduced.3)The follow-up control research of power-assist exoskeleton upper extremity exoskeleton robot is carried out.The effect of human-robot interaction force in the exoskeleton control mechanism is analyzed.And the control model between the control objectives and the interaction force is established.And joints’ angular velocity is introduced into force feedback control as the amount of compensation.4)The control experiment of the new type of force feedback control is carried out.The first generation of upper extremity exoskeleton successfully achieves the following of the wearer’s hand movements and the lift of heavy objects.The experimental results show that the new type force feedback control can effectively reduce the interaction force between the wearer and the upper extremity exoskeleton and the “oscillation“.