@inproceedings{ab53fdceb14143d9ae82123aef42968f,
title = "Trajectory Design and Adaptive Impedance Control of Lower Limb Exoskeleton",
abstract = "This paper proposes a novel human-in-loop control framework for the lower limb exoskeleton, assisting the pilot to move under different working conditions. Under the premise of ensuring the stability of the exoskeleton, the method of Zero Moment Point (ZMP) theory is used to generate the expected motion trajectory of the exoskeleton under different working conditions. In order to ensure the comfort of the pilot, an adaptive impedance controller is designed. The controller has a double closed-loop structure. The position loop realizes the exoskeleton tracking the desired trajectory, and the impedance control loop adjusts the impedance parameters to ensure the comfort of the human body. Then Lyapunov's definition was used to prove the stability of the control framework. The simulation results show that the proposed scheme can help pilots complete walking on a plane, climbing and squatting movements.",
keywords = "Adaptive impedance, Exoskeleton, Trajectory design",
author = "Mailing An and Xingjian Wang and Yinan Miao and Shaoping Wang and Yiqi Miao",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 ; Conference date: 01-08-2021 Through 04-08-2021",
year = "2021",
month = aug,
day = "1",
doi = "10.1109/ICIEA51954.2021.9516090",
language = "英语",
series = "Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2037--2042",
booktitle = "Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021",
address = "美国",
}