An Impedance Control Method of Lower Limb Exoskeleton Rehabilitation Robot Based on Predicted Forward Dynamics

摘要

Aiming at the problem of the sick limb condition of the exoskeleton rehabilitation robot affects the smoothness and stability of the robot system during rehabilitation training, this paper proposed an impedance control model for the lower limb exoskeleton rehabilitation robot. The model realizes the flexibility of the robot system by adjusting the impedance control parameters in real time. To verify the validity of the model, we used SCONE software to realize forward dynamics simulation of walking gait. The classical PID impedance control system and fuzzy adaptive impedance control system are simulated respectively. The results show that the fuzzy adaptive control system is more effective to adapt to the changes of limb condition for the impedance control system of lower limb exoskeleton rehabilitation robot.