Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton

Wearable lower limb hydraulic exoskeletons can be used to augment the human performance in heavy load transportation. Nonlinear and walking phase-dependent dynamics make the lower limb hydraulic exoskeleton become difficult to be modeled. This paper presents a generalized multiphase dynamic modeling...

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Main Authors: Shan Chen, Muye Lu, Fangfang Dong, Haijun Liu, Xiaoqing Tian, Jiang Han
Format: Article
Language:English
Published: Wiley 2022-01-01
Series:Applied Bionics and Biomechanics
Online Access:http://dx.doi.org/10.1155/2022/2801719
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author Shan Chen
Muye Lu
Fangfang Dong
Haijun Liu
Xiaoqing Tian
Jiang Han
author_facet Shan Chen
Muye Lu
Fangfang Dong
Haijun Liu
Xiaoqing Tian
Jiang Han
author_sort Shan Chen
collection DOAJ
description Wearable lower limb hydraulic exoskeletons can be used to augment the human performance in heavy load transportation. Nonlinear and walking phase-dependent dynamics make the lower limb hydraulic exoskeleton become difficult to be modeled. This paper presents a generalized multiphase dynamic modeling method in which the dynamic model of each walking phase can all be solved based on a general higher dimensional dynamic model and different holonomic constraints. Compared to traditional lower limb exoskeleton modeling methods where the modeling of each walking phase is done independently, the proposed method is simple and applicable to arbitrary walking phases, especially for double leg support phase (closed-chain dynamics). Based on the established dynamic models, MIMO adaptive robust cascade force controllers (ARCFC) are designed both for double leg support phase and single leg support phase to effectively address high-order nonlinearities and various modeling uncertainties in hydraulic exoskeletons. An additional torque allocation method is proposed to deal with the overactuated characteristic in double leg support. Comparative simulations are conducted to verify the excellent human-machine interaction force control performance of the proposed scheme.
format Article
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institution Kabale University
issn 1754-2103
language English
publishDate 2022-01-01
publisher Wiley
record_format Article
series Applied Bionics and Biomechanics
spelling doaj-art-174dec2f1f1c410bb0ae16560f3df0042025-02-03T05:53:39ZengWileyApplied Bionics and Biomechanics1754-21032022-01-01202210.1155/2022/2801719Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic ExoskeletonShan Chen0Muye Lu1Fangfang Dong2Haijun Liu3Xiaoqing Tian4Jiang Han5School of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Mechanical EngineeringWearable lower limb hydraulic exoskeletons can be used to augment the human performance in heavy load transportation. Nonlinear and walking phase-dependent dynamics make the lower limb hydraulic exoskeleton become difficult to be modeled. This paper presents a generalized multiphase dynamic modeling method in which the dynamic model of each walking phase can all be solved based on a general higher dimensional dynamic model and different holonomic constraints. Compared to traditional lower limb exoskeleton modeling methods where the modeling of each walking phase is done independently, the proposed method is simple and applicable to arbitrary walking phases, especially for double leg support phase (closed-chain dynamics). Based on the established dynamic models, MIMO adaptive robust cascade force controllers (ARCFC) are designed both for double leg support phase and single leg support phase to effectively address high-order nonlinearities and various modeling uncertainties in hydraulic exoskeletons. An additional torque allocation method is proposed to deal with the overactuated characteristic in double leg support. Comparative simulations are conducted to verify the excellent human-machine interaction force control performance of the proposed scheme.http://dx.doi.org/10.1155/2022/2801719
spellingShingle Shan Chen
Muye Lu
Fangfang Dong
Haijun Liu
Xiaoqing Tian
Jiang Han
Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton
Applied Bionics and Biomechanics
title Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton
title_full Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton
title_fullStr Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton
title_full_unstemmed Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton
title_short Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton
title_sort generalized multiphase dynamic modeling and precision interaction force control of a walking lower limb hydraulic exoskeleton
url http://dx.doi.org/10.1155/2022/2801719
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AT fangfangdong generalizedmultiphasedynamicmodelingandprecisioninteractionforcecontrolofawalkinglowerlimbhydraulicexoskeleton
AT haijunliu generalizedmultiphasedynamicmodelingandprecisioninteractionforcecontrolofawalkinglowerlimbhydraulicexoskeleton
AT xiaoqingtian generalizedmultiphasedynamicmodelingandprecisioninteractionforcecontrolofawalkinglowerlimbhydraulicexoskeleton
AT jianghan generalizedmultiphasedynamicmodelingandprecisioninteractionforcecontrolofawalkinglowerlimbhydraulicexoskeleton