Research on Control Strategy of Upper Limb Assist Exoskeleton Follow up Assist

To reduce the upper limb load of high-risk workers, a follow-up control strategy for upper limb assisted exoskeleton assistance is proposed. With zero force control as the goal, a joint space admittance model based on the six dimensional force at the end is established and solved using the integral iteration method. The influence of different admittance parameters on trajectory correction is analyzed using Matlab software. This paper establishes a PD controller based on model compensation and an adaptive RBF neural network controller based on model approximation, and compare the trajectory tracking simulation of the two position controls using MATLAB/Simulink software. We build and simulate the force outer ring and position inner ring, and analyze the flexibility characteristics and servo quality of the exoskeleton under given interaction forces. The simulation results show that, taking into account the uncertainty of the dynamic model, the control strategy proposed in this paper can still achieve good control effects.