Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm
The prediction of sensor data can help the exoskeleton control system to get the human motion intention and target position in advance, so as to reduce the human-machine interaction force. In this paper, an improved method for the prediction algorithm of exoskeleton sensor data is proposed. Through...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2021/8850348 |
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| _version_ | 1832559772791996416 |
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| author | Shijia Zha Tianyi Li Lidan Cheng Jihua Gu Wei Wei Xichuan Lin Shaofei Gu |
| author_facet | Shijia Zha Tianyi Li Lidan Cheng Jihua Gu Wei Wei Xichuan Lin Shaofei Gu |
| author_sort | Shijia Zha |
| collection | DOAJ |
| description | The prediction of sensor data can help the exoskeleton control system to get the human motion intention and target position in advance, so as to reduce the human-machine interaction force. In this paper, an improved method for the prediction algorithm of exoskeleton sensor data is proposed. Through an algorithm simulation test and two-link simulation experiment, the algorithm improves the prediction accuracy by 14.23 ± 0.5%, and the sensor data is smooth. Input the predicted signal into the two-link model, and use the calculated torque method to verify the prediction accuracy data and smoothness. The simulation results showed that the algorithm can predict the joint angle of the human body and can be used for the follow-up control of the swinging legs of the exoskeleton. |
| format | Article |
| id | doaj-art-805820b0d2f04a9a9a15a8330a708825 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-805820b0d2f04a9a9a15a8330a7088252025-02-03T01:29:18ZengWileyApplied Bionics and Biomechanics1176-23221754-21032021-01-01202110.1155/2021/88503488850348Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive AlgorithmShijia Zha0Tianyi Li1Lidan Cheng2Jihua Gu3Wei Wei4Xichuan Lin5Shaofei Gu6College of Optoelectronics Science and Engineering, Soochow University, Suzhou Jiangsu Province, 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou Jiangsu Province, 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou Jiangsu Province, 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou Jiangsu Province, 215000, ChinaCollege of Optoelectronics Science and Engineering, Soochow University, Suzhou Jiangsu Province, 215000, ChinaMicro-Nano Automation Institute, Jiangsu Industrial Technology Research Institute, Suzhou, Jiangsu Province 215131, ChinaShanghai Huangpu District Fire Rescue Detachment, Shanghai 200001, ChinaThe prediction of sensor data can help the exoskeleton control system to get the human motion intention and target position in advance, so as to reduce the human-machine interaction force. In this paper, an improved method for the prediction algorithm of exoskeleton sensor data is proposed. Through an algorithm simulation test and two-link simulation experiment, the algorithm improves the prediction accuracy by 14.23 ± 0.5%, and the sensor data is smooth. Input the predicted signal into the two-link model, and use the calculated torque method to verify the prediction accuracy data and smoothness. The simulation results showed that the algorithm can predict the joint angle of the human body and can be used for the follow-up control of the swinging legs of the exoskeleton.http://dx.doi.org/10.1155/2021/8850348 |
| spellingShingle | Shijia Zha Tianyi Li Lidan Cheng Jihua Gu Wei Wei Xichuan Lin Shaofei Gu Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm Applied Bionics and Biomechanics |
| title | Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm |
| title_full | Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm |
| title_fullStr | Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm |
| title_full_unstemmed | Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm |
| title_short | Exoskeleton Follow-Up Control Based on Parameter Optimization of Predictive Algorithm |
| title_sort | exoskeleton follow up control based on parameter optimization of predictive algorithm |
| url | http://dx.doi.org/10.1155/2021/8850348 |
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