Computer Science ›› 2017, Vol. 44 ›› Issue (Z6): 68-69, 104.doi: 10.11896/j.issn.1002-137X.2017.6A.013

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Research on Lower Extremity Exoskeleton Robot Servo Control Algorithm

ZHAO Han-bin, ZHAO Zi-yi, ZHAO Jiang-hai and WANG Yu   

  • Online:2017-12-01 Published:2018-12-01

Abstract: The servo control algorithm plays a decisive role in assisted effect of the lower extremity exoskeleton robot.Based on zero power control algorithm and characteristics of the lower limb exoskeleton robot movement,a terminal servo control algorithm was proposed,and the algorithm process was given.Finally the effectiveness of the proposed algorithm is verified by Matlab simulation.

Key words: Exoskeleton robot,Zero force control,Terminal servo control

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