Study On Control Strategy Of Soft Assisted Upper Exoskeleton Robot

Soft exoskeleton robots with human-computer interaction as the core in artificial intelligence technology,fully considering the relationship between exoskeleton robots in the three levels of perception,decision-making and execution,and finally realize human-machine Communion.At present,exoskeleton robots are mainly used in medical,transportation,nursing,industrial,national defense and other fields.They have very important research significance and needs.In many application fields,exoskeleton robots play an important role and application scenarios.One of the application development directions is in-depth research.During the handling process,the wearable upper extremity exoskeleton robot can provide support for the human joints,reduce the burden on the muscles,and improve the handling efficiency.The main contents of the research involve the motion consistency,safety and reliability,motion synchronization,effective recognition of motion intentions,and joint motion control.The flexible power assisted exoskeleton robot driver uses pneumatic muscles,followed by the human body and the exoskeleton robot's joints are connected by flexible materials,ensuring comfort during use,adding a waist assist mechanism,and protecting the hip joint during the bending process,and finally The shoulder joint adopts Bowden wire passive transmission to provide the auxiliary force of the shoulder j oint during the carrying process.In the research process of this paper,the research focuses on the intelligent control of the upper extremity exoskeleton robot.The main research contents of the thesis are carried out in the following five parts:(1)Carry out on-site wear and carryover experiments,study the human arm and hip joint movement forms and degrees of freedom based on the forces on the human arms and hip joints during the carrying process,consider individual differences,economy,and safety,and optimize external skeleton robots Increase waist assist and improve upper limb assist,reduce robot body weight and improve assist efficiency.(2)According to the improved exoskeleton robot,dynamic equations are created,and PID and fuzzy PID control strategies are proposed.The angle error of elbow joints following sinusoidal signals under PID and fuzzy PID control are studied through simulation.(3)An EMG signal acquisition system was set up to perform feature extraction on the EMG signal.A closed-loop control system based on the EMG signal control was designed and constructed to verify the effect of human intention recognition through experiments.(4)Design and build a pneumatic muscle-driven closed-loop control system and hardware platform,collect human-computer interaction signals through pressure sensors and myoelectric sensors,and adjust feedback through air pressure sensors.(5)Set up an exoskeleton booster experiment platform,complete the waist booster experiment,upper limb transfer maintenance experiment,comprehensive booster transfer experiment,collect the electromyographic signals of the human arm biceps and erector spinae muscles,and get the boost effect.