Study on master-slave control strategy of lower extremity exoskeleton robot

摘要

This paper presents a control algorithm for lower extremity exoskeleton robot which based on master-slave control strategy, First the lower extremity exoskeleton ‘PRMI exoskeleton’ (exoskeleton developed in Pattern Recognition and Machine Intelligence Lab) is introduced in this paper, which divided into three parts including a mechanical system, a sensing system and a control system. Then a kind of control algorithm based on fuzzy PD controller with dynamic model compensation is proposed for exoskeleton control. Finally the algorithm is validated in the real-time system, and high performance of the algorithm in these experiments illustrate its superiority in master-slave control.