Construction of exoskeleton motion control platform and research on control algorithm

Yiqi Hu; Damiao Yang; Xianglu Lin; Yuzheng Liu; Fenqian Wu; Cheng Lin; Jingyi Xu

doi:10.1117/12.3025723

8 April 2024 Construction of exoskeleton motion control platform and research on control algorithm

Yiqi Hu, Damiao Yang, Xianglu Lin, Yuzheng Liu, Fenqian Wu, Cheng Lin, Jingyi Xu

Proceedings Volume 13090, International Conference on Computer Application and Information Security (ICCAIS 2023); 1309039 (2024) https://doi.org/10.1117/12.3025723
Event: International Conference on Computer Application and Information Security (ICCAIS 2023), 2023, Wuhan, China

Abstract

Exoskeleton motion control technology has become an important industrial enhancement technology. However, in practical application, due to the complex human mechanical structure and changeable working environment, the existing exoskeleton motion control platform and algorithm still have some limitations and shortcomings, which need to be further optimized and improved. Based on the three-dimensional model and data analysis of the exoskeleton motion platform, a new motion control algorithm is proposed, verified, and improved. Through data analysis and experimental verification, it is found that the new algorithm can significantly improve the mechanical performance and control performance of the exoskeleton motion platform. Specifically, the average speed, average acceleration, and posture change angle range of the new algorithm are increased by 0.13 m/s, 0.28 m/s, and the time series of task execution is shortened by 639.3 ms. This study provides new insights and optimization methods for the construction of exoskeleton motion control platform and control algorithm, which will further promote the development and practicality of this field.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yiqi Hu, Damiao Yang, Xianglu Lin, Yuzheng Liu, Fenqian Wu, Cheng Lin, and Jingyi Xu "Construction of exoskeleton motion control platform and research on control algorithm", Proc. SPIE 13090, International Conference on Computer Application and Information Security (ICCAIS 2023), 1309039 (8 April 2024); https://doi.org/10.1117/12.3025723

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KEYWORDS

Motion controllers

Control systems

Data modeling

Design

Algorithm development

Sensors

Deep learning

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