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Design and Implementation of a Predictive Nonlinear Robust Controller in order to Reduce Interaction Forces in a Lower Limb Exoskeleton Robot used for Power Augmentation
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Many workers and soldiers suffer from musculoskeletal problems due to carrying heavy loads. Using exoskeleton robots which are designed for power augmentation can be effective in preventing these disorders. Due to the interaction of these robots with human, it is necessary to design an appropriate control system for these robots, therefore, the aim of this research is to design a predictive nonlinear control system for a three degrees of freedom lower-limb Exoskeleton robot, in order to improve the performance of the robot, follow trajectory of human joints and reduce the interaction forces between human and the robot during the squatting activity. Multi-stage model predictive controller...