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Zhang Dynamics based Tracking Control of Knee Exoskeleton with Timedependent Inertial and Viscous Parameters

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  • Robot and Applications
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Abstract

Knee exoskeleton plays an important role in robot-assisted rehabilitation for impaired pilots to restore their motor functionality of lower extremity through producing external movement compensation. Tracking control of knee exoskeleton often encounters time-dependent (time-varying) issues reflected in its dynamic behaviors. In many applications, inertial and viscous parameters of knee exoskeletons are measured to be time-dependent due to unexpected mechanical vibrations and contact interactions, which increases difficultly of accurate control of knee exoskeleton to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-dependent (time-varying) inertial and viscous coefficients. Such controller is designed based on Zhang dynamics (ZD) method and utilizes twice Zhang function (ZF) so as to make the tracking error of joint angle exponentially converge to zero. Illustrative simulation examples and experimental validation are presented to show efficiency of this type of controller based on ZD method. Comparisons with gradient dynamic (GD) approach are also presented to demonstrate superiority of ZD-type control strategy for tracking joint angle of knee exoskeleton.

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Authors and Affiliations

  1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Zhan Li & Ziguang Yin

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  1. Zhan Li
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  2. Ziguang Yin
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Corresponding author

Correspondence to Zhan Li.

Additional information

Recommended by Associate Editor Kyoungchul Kong under the direction of Editor Hyun-Seok Yang. This work was supported by the National Natural Science Foundation of China (NSFC) under grant No. 61603078 and Fundamental Research Funds for the Central Universities at University of Electronic Science and Technology of China (UESTC) under grant No. ZYGX2015KYQD044.

Zhan Li received his Ph.D. degree from University of Montpellier, France in 2014. From 2011 to 2014, He was working in INRIA, Montpellier, France. He is currently with School of Automation Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China. His research interests include rehabilitation robotics, functional electrical stimulation, and neural networks.

Ziguang Yin is an experienced mechanical engineering with School of Automation Engineering, University of Electronic Science and Technology of China (UESTC) and Buffalo Robot Corporation, Chengdu, China. His research interests include mechanics design and prototyping.

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Li, Z., Yin, Z. Zhang Dynamics based Tracking Control of Knee Exoskeleton with Timedependent Inertial and Viscous Parameters. Int. J. Control Autom. Syst. 16, 904–911 (2018). https://doi.org/10.1007/s12555-017-0011-8

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  • DOI: https://doi.org/10.1007/s12555-017-0011-8

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