Fractional Kelvin-Voigt based Viscoelastic Control for self-Balancing Exoskeleton

Wentao Li1; Feng Li2; Ming Yang3; Jinke Li2; Ming Li2; Yuanpei Zhu2; Meng Yin2; Dingkui Tian2; Xinyu Wu2

10.1109/ROBIO58561.2023.10354746

2023

979-8-3503-2571-3

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

1-6

4-9 Dec. 2023

Koh Samui, Thailand

Self-balancing exoskeleton robots enable hands-free walking for the wearer, and the problem of its stable walking has been a challenge. In this paper, to achieve compliant and stable walking of a self-balancing exoskeleton robot and reduce the shock between the robot and the ground, we propose a new fractional kelvin voigt viscoelastic controller (FKVC). The proposed FKVC incorporates the advantages of fractional order and the kelvin voigt viscoelastic to endow the self-balancing exoskeleton with stable and dynamic walking capabilities. Simulation results show that the actual CoM position of the exoskeleton well tracks the reference CoM position, and the actual ZMP converges to the reference ZMP position. The ZMP is always within the effective support region of the biped. Therefore, we experimentally proved the practicality and effectiveness of the FKVC method, and the self-balancing exoskeleton successfully realizes stable dynamic walking.

Legged locomotion Simulation Kelvin Electric shock Biomimetics Exoskeletons Muscles

第一

EI

20240315404500

IEEE

1.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
2.Chinese Academy of Sciences, Shenzhen Institute of Advanced Technology, Shenzhen, China
3.University of Science and Technology of China, Hefei, China

Wentao Li,Feng Li,Ming Yang,et al. Fractional Kelvin-Voigt based Viscoelastic Control for self-Balancing Exoskeleton[C],2023:1-6.