Self-adaptive control strategy for exoskeleton to help paraplegic patients stand up and sit down

摘要

This paper presents a practical control strategy used on lower limb exoskeleton to help paraplegic patients to stand up and sit down. It can make the process more comfortable and stable no matter the crutches are pressed heavy or slight. It is particularly efficient to the robots without drivable ankle joints such SIAT exoskeleton. Stable space was configured to ensure that the real time-generated trajectory won't break the balance of human-robot system. The speed of each joint adjusts to the pressure under the crutches so as to relieve the impact from crutches. The result of experiments shows that the self-adaptive control strategy can not only ensure the stability and fitness, but also form an incentive-“more effort paid, more time saved”.