Development and Implementation of a Wearable Robot Interaction Force Control Method Based on Switch Between the Swing and Stance Phases using Hybrid Systems Theory

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Safaeifar, Ali | 2018

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 50537 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Vosoughi, Gholamreza
Abstract:
Exoskeleton robot is so useful because of the interaction with them and human and are used in rehabilitation and augmentation applications. These robots can be either passively or actively actuated. Human and robot interaction is an important issue involved with these robots. In this thesis, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during switch between swing and stance phasees of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be employed in the control loop. As part of assumptions, the interaction between the robot and human is modeled by a spring-damper set which is reasonably accurate for swing phase. The prototyped exoskeleton parameters have been used for more accurate robot modeling. Finally, the simulation results are presented, indicating good performance of the proposed robot control strategy for a transparent human tracking. Also the experimental tests are done and the performance is verified
Keywords:
Lower Limb Exoskeleton ; Human and Robot Simulation Platform ; Interaction Force Control ; Hybrid Control ; Dynamic Switch

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