Research on adaptive motion methods of flexible knee joints based on the artificial potential field
LUO Tianhong
LI Chaoyang
MA Xiangyu
FU Qiang
FANG Shangchen
Abstract：[Objective]Considering the tracking error of the motion trajectory of the flexible knee joint and the influence of the flexibility on the joint motion,an adaptive impedance control method based on the artificial potential field(APF)was proposed.[Methods]The method took the pneumatic artificial muscle as the power source,and by establishing a kinetic model between the human-machine interaction moment and the knee joint motion angular velocity,the size of the impedance control parameter could be adjusted in real time,so as to realize the following of the motion of the exoskeleton knee joint and the human leg;the control parameter was optimized using the APF concept to enhance the effect of the motion following,and the effectiveness of the algorithm was verified by simulation and test.[Results]The results show that the proposed APF-based adaptive impedance control method enables the exoskeleton to adaptively track the human motion trajectory and can reduce the error of trajectory tracking,thus improving the suppleness of the flexible knee joint control and enhancing the human-machine synergy of the system.
Keywords：Impedance controlFlexible knee jointAdaptiveArtificial potential field
Publication Date：2025-05-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 10-17 )