Research On Human-machine Coupling Dynamics In Tracking Exoskeleton Of Lower Limb

The application of robots in human life is already very common.A small area of robots is the direction of lower extremity exoskeleton robots.The application scenarios are all over medical,military and industrial.Specifically,it can be divided into booster and rehabilitation training robots.In this paper,the topic of lower extremity exoskeleton is selected to analyze the role of parameters in the humanmachine coupling force and to help people with walking disabilities achieve assistance and rehabilitation training as the goal.After un.derstan.ding the dev.elopment st.atus of dom.estic and fore.ign exoskeleton robots,it is established to analyze the trajectory tracking with the human-machine coupling force as the goal,la.ying a certain foun.dation fo.r fu.rther i.n-de.pth res.earch in the future.This article mainly does the following work:First,establish a mathematical model of rigid man-machine coupling,and then use the simulation software Adams to construct a physical model corresponding to the mathematical model.The results of the mathematical model and the physical model are obtained and compared without external interference,so as to verify the correctness of the man-machine coupling model.Secondly,the control experiment of the man-machine coupling model is carried out,and the classical model-independent PID control and the RBF neural network adaptive control are used to compare the position tracking experiments.When moving according to a certain trajectory,the exoskeleton can be better controlled under the control of PID and RBF neural network,but when the trajectory is changed or the stiffness,damping,and coupling position parameters are changed,the last PID parameters are used The effect is not as good as the effect under the control of RBF neural network.Then under the man-machine coupling model,take the man-machine coupling force as an evaluation,and analyze the influence of stiffness,damping and coupling position on the man-machine coupling force.Applying the Pareto optimal boundary of the NSGA-? multi-objective optimization algorithm when the parameters are changed at the same time,this has certain reference significance for parameter selection.Finally,under the action of the human-machine coupling model,the application scenarios of the active and passive modes of the lower extremity exoskeleton are explained,and the two are introduced separately.It can be obtained that under certain conditions,that is,during a certain experiment,the active and passive humans The range of machine coupling force.