Research on adaptive motion methods of flexible knee joints based on the artificial potential field
ObjectiveConsidering the tracking error of the motion trajectory of the flexible knee joint and the influence of the flexibility on the joint motion, an adaptive impedance control method based on the artificial potential field (APF) was proposed.MethodsThe method took the pneumatic artificial muscle...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2025-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.05.002 |
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| _version_ | 1850272036353474560 |
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| author | LUO Tianhong LI Chaoyang MA Xiangyu FU Qiang FANG Shangchen |
| author_facet | LUO Tianhong LI Chaoyang MA Xiangyu FU Qiang FANG Shangchen |
| author_sort | LUO Tianhong |
| collection | DOAJ |
| description | ObjectiveConsidering the tracking error of the motion trajectory of the flexible knee joint and the influence of the flexibility on the joint motion, an adaptive impedance control method based on the artificial potential field (APF) was proposed.MethodsThe method took the pneumatic artificial muscle as the power source, and by establishing a kinetic model between the human-machine interaction moment and the knee joint motion angular velocity, the size of the impedance control parameter could be adjusted in real time, so as to realize the following of the motion of the exoskeleton knee joint and the human leg; the control parameter was optimized using the APF concept to enhance the effect of the motion following, and the effectiveness of the algorithm was verified by simulation and test.ResultsThe results show that the proposed APF-based adaptive impedance control method enables the exoskeleton to adaptively track the human motion trajectory and can reduce the error of trajectory tracking, thus improving the suppleness of the flexible knee joint control and enhancing the human-machine synergy of the system. |
| format | Article |
| id | doaj-art-8eb27b324c5546609e412cd594ebf14e |
| institution | OA Journals |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-8eb27b324c5546609e412cd594ebf14e2025-08-20T01:51:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-05-01491017100921773Research on adaptive motion methods of flexible knee joints based on the artificial potential fieldLUO TianhongLI ChaoyangMA XiangyuFU QiangFANG ShangchenObjectiveConsidering the tracking error of the motion trajectory of the flexible knee joint and the influence of the flexibility on the joint motion, an adaptive impedance control method based on the artificial potential field (APF) was proposed.MethodsThe method took the pneumatic artificial muscle as the power source, and by establishing a kinetic model between the human-machine interaction moment and the knee joint motion angular velocity, the size of the impedance control parameter could be adjusted in real time, so as to realize the following of the motion of the exoskeleton knee joint and the human leg; the control parameter was optimized using the APF concept to enhance the effect of the motion following, and the effectiveness of the algorithm was verified by simulation and test.ResultsThe results show that the proposed APF-based adaptive impedance control method enables the exoskeleton to adaptively track the human motion trajectory and can reduce the error of trajectory tracking, thus improving the suppleness of the flexible knee joint control and enhancing the human-machine synergy of the system.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.05.002Impedance controlFlexible knee jointAdaptiveArtificial potential field |
| spellingShingle | LUO Tianhong LI Chaoyang MA Xiangyu FU Qiang FANG Shangchen Research on adaptive motion methods of flexible knee joints based on the artificial potential field Jixie chuandong Impedance control Flexible knee joint Adaptive Artificial potential field |
| title | Research on adaptive motion methods of flexible knee joints based on the artificial potential field |
| title_full | Research on adaptive motion methods of flexible knee joints based on the artificial potential field |
| title_fullStr | Research on adaptive motion methods of flexible knee joints based on the artificial potential field |
| title_full_unstemmed | Research on adaptive motion methods of flexible knee joints based on the artificial potential field |
| title_short | Research on adaptive motion methods of flexible knee joints based on the artificial potential field |
| title_sort | research on adaptive motion methods of flexible knee joints based on the artificial potential field |
| topic | Impedance control Flexible knee joint Adaptive Artificial potential field |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.05.002 |
| work_keys_str_mv | AT luotianhong researchonadaptivemotionmethodsofflexiblekneejointsbasedontheartificialpotentialfield AT lichaoyang researchonadaptivemotionmethodsofflexiblekneejointsbasedontheartificialpotentialfield AT maxiangyu researchonadaptivemotionmethodsofflexiblekneejointsbasedontheartificialpotentialfield AT fuqiang researchonadaptivemotionmethodsofflexiblekneejointsbasedontheartificialpotentialfield AT fangshangchen researchonadaptivemotionmethodsofflexiblekneejointsbasedontheartificialpotentialfield |