Model and Control of Lower Extreme Exoskeleton System
YANG Xiuxia
YANG Xiaodong
WANG Ting
YANG Zhiyong
Abstract：Considering the typicla lower extreme exoskeleton human-machine system ,the Lagrange method is used to build the rigid-body dynamic mathematics model .The virtual joint torque control is applied to control the lower extreme exo -skeleton .The simulation tests the validity of the model and the control method ,which shows that the control method can re-lieve the load feeling and complete the load carrying .
Keywords：lower extreme exoskeletondynamic mathematics modelvirtual joint torque control
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 45-48 )