부산대학교 도서관

A adaptive impedance control algorithm based on fuzzy control for a human-powered augmentation lower exoskeleton is presented. The exoskeleton system architecture is introduced first, which is divided into three parts including the mechanical subsystem, the sensing subsystem and the control subsystem. By using Lagrangian method, the inverse dynamics model of one-leg swing is established and the control effect of impedance parameters is studied. And then, a adaptive impedance control algorithm, including fuzzy logic control theory and the structure of fuzzy controller, is proposed. The effectiveness of the control algorithm is verified simulation experiment