A Passive Control Method for Single Joint Exoskeleton Based on Hill Model

Abstract

Recent years, exoskeleton robot has become the focus of fields of medical rehabilitation, military, aerospace, etc. But there still exist some hardnut problems in the design of mechanism, the movement intention detection and the coupling control of human-machine. Passive control is mainly used for improving the motor recovery of hemiplegic patients. A method of generating bionic trajectories which are used in passive control methods is proposed. Firstly, the structure of the control system of the elbow joint is discussed. Based on the Hill model of skeletal muscle, a new position tracking passive control strategy is proposed, which has a highly similar compliance with human motion. According to the requirements of assistance and comfort, a proportional sliding mode controller is designed using feedback linearization. After that, the model of the control system is simulated, and the tracking characteristics of the angle and angular velocity are analyzed. Finally, the experimental results validate that the passive control strategy has high human similar compliance.

Passive location method-based UAV formation positioning model

“…Substituting (7) into the equation of one of the external circles gives us the quadratic equation in one unknown for 𝑥.…”

“…Hu Liping et al [5] focused on the analysis of the optimal formation configuration for three-aircraft passive location, while Zhu Jing et al [6] derived the geometric dilution of location accuracy (GDOP) formula and analysed the location accuracy of multiple UAVs under different formation conditions. In this paper, a circular location model based on AOA [7] was developed with UAV circular formation location as the entry point, which can design adjustment sequences and schemes for different formation shapes [8] .…”