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Author:

Wei, Wei (Wei, Wei.) | Cheng, Lidan (Cheng, Lidan.) | Zhang, Pengcheng (Zhang, Pengcheng.) | Zhao, Shengjie (Zhao, Shengjie.) | Li, Qunlong (Li, Qunlong.) | Xia, Yuxuan (Xia, Yuxuan.) | Wang, Weidong (Wang, Weidong.) | Li, Jiaqian (Li, Jiaqian.)

Indexed by:

CPCI-S

Abstract:

This paper presents a disturbing recovery approach for lower extremity exoskeletons with passive ankle joints, which particularly works when an external disturbance is applied on the standing exoskeleton. Firstly, by analyzing the mechanical structure of lower extremity exoskeletons during its stance phase, the mathematical model is established using state-space equations. Then, on the basis of LQR (Linear Quadratic Regulator) theory, a novel neural network controller is designed to obtain the optimal solution for the balance control of model proposed. Finally, experimental results demonstrate that the proposed disturbing recovery approach not only has faster recovery speed, but also can achieve higher control precision than the traditional LQR.

Keyword:

disturbing recovery simulation dynamics neural network exoskeleton

Author Community:

  • [ 1 ] [Wei, Wei]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China
  • [ 2 ] [Cheng, Lidan]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China
  • [ 3 ] [Zhang, Pengcheng]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China
  • [ 4 ] [Zhao, Shengjie]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China
  • [ 5 ] [Li, Qunlong]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China
  • [ 6 ] [Xia, Yuxuan]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China
  • [ 7 ] [Wang, Weidong]Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China
  • [ 8 ] [Li, Jiaqian]Suzhou Ind Pk Inst Vocat Technol, Dept Mech & Elect Engn, Suzhou, Jiangsu, Peoples R China

Reprint Author's Address:

  • [Wei, Wei]Soochow Univ, Coll Phys Optoelect & Energy & Collaborat Innovat, Suzhou, Jiangsu, Peoples R China

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Source :

2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)

Year: 2017

Page: 559-564

Language: English

Cited Count:

WoS CC Cited Count: 0

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 1

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