Compliant Control of Lower Limb Exoskeleton Based on Rhythmic Dynamic Movement Primitives
10.16156/j.1004-7220.2025.04.021
- VernacularTitle:基于节律性动态运动基元的下肢外骨骼柔顺控制
- Author:
Long HE
1
;
Jingwei REN
;
Tao LIU
Author Information
1. 杭州智元研究院,杭州 310024
- Publication Type:Journal Article
- Keywords:
lower limb rehabilitation exoskeleton;
dynamic movement primitives;
compliant control;
human-robot interaction;
trajectory tracking;
gait
- From:
Journal of Medical Biomechanics
2025;40(4):948-954
- CountryChina
- Language:Chinese
-
Abstract:
Objective To address the challenges in human-robot interaction control for lower limb rehabilitation exoskeletons by optimizing gait pattern design and compliance control strategies,thereby enhancing the safety,comfort,and precision of rehabilitation training.Methods Rhythmic dynamic movement primitives were utilized to generate personalized gait trajectories,combined with an admittance control strategy to design a trajectory tracking controller.This controller adjusted control parameters in real time to guide the user's gait towards the desired trajectory,reduce interaction torque,improve gait consistency,and ensure safety and effectiveness during rehabilitation training.Results Walking experiments with three participants using the lower limb rehabilitation exoskeleton demonstrated that,compared to transparent mode,the trajectory tracking mode reduced the root mean square error(RMSE)of hip and knee joint angle trajectories from 7.24° and 13.25° to 3.01° and 4.76°,respectively.The mean absolute error(MAE)decreased from 6.35° and 11.17° to 2.54° and 3.50°,respectively.The absolute mean interaction torque decreased from 3.55 N·m and 3.42 N·m to 2.80 N·m and 1.86 N·m.These results validated that the trajectory tracking controller significantly improved gait consistency and comfort.Conclusions The application of rhythmic dynamic movement primitives combined with compliance control strategies in lower limb rehabilitation exoskeletons shows great potential,providing patients with a safer and more personalized rehabilitation experience.
