文章基本信息

标题：Human–machine force interaction design and control for the HIT load-carrying exoskeleton
本地全文：下载
作者：Chao Zhang ; Xizhe Zang ; Zhengfei Leng 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2016
卷号：8
期号：4
DOI：10.1177/1687814016645068
语种：English
出版社：Sage Publications Ltd.
摘要：The HIT load-carrying exoskeleton is designed for enhancing the operator’s load-carrying capability. Human walking has the characteristics of diversity and randomness. It requires that the sensing system of exoskeleton could detect and identify the random motion of human body. In this article, a human–machine force interaction designing architecture is proposed for HIT load-carrying exoskeleton. The human–machine interactive forces at the kinematic terminals (the back and feet) are detected for the human movement identification. Four basic body modalities during the movement process are proposed, which could be automatically identified by the sensing system. The kinematic models for the swing leg and supporting leg are established, respectively. A positional deviation feedback control method based on the interaction force detection is designed. The experiments show that the human–machine interaction force detection at the back and feet and the identification of different body modalities and movement intention are feasible. The interactive forces on the back are far less than the payload, indicating that the exoskeleton has good power-assisted effect.
关键词：Human–machine force interaction; human movement identification; exoskeleton control; HIT load-carrying exoskeleton