A method of standing balance control for self-balancing lower extremity exoskeleton robot

摘要

Exoskeleton robots are one of the hot spots of research in the field of bipedal robotics. Standing balance is the basis for exoskeleton robot walking, however, only a few similar studies have been implemented for this control and play a very important role in the rehabilitation of stroke patients. In this paper, a standing composite control algorithm for fully actuated lower limb exoskeleton robot is proposed. Virtual spring dampers and ankle joint local control are introduced to improve the standing stability of the exoskeleton robot. Through center-of-mass adjustment and ankle joint compensation, the vibration of the exoskeleton robot is significantly reduced when subjected to certain external forces. No-load and load simulation experiments of the exoskeleton robot are designed to verify the effectiveness and and noise-tolerant ability of this control algorithm.