Experimental research on follow-up control of lower limb exoskeleton robot

This paper designs a motor-driven exoskeleton robot for lower limbs. According to the mechanical structure of the lower limb exoskeleton robot, the hardware and software systems of the robot were designed, and the dynamics model of the exoskeleton was constructed. And a follow-up control strategy based on minimizing human-computer interaction force was proposed. The parameters Kp and Kd in PD controller are determined by a lot of experiments and engineering setting method. The experimental results show that when the follow-up control mode is turned on, the designed followup control strategy has a good effect, and effectively reduces the human-computer interaction force.