Lower Limbs Exoskeleton Control Strategy Based On Optimized Compliance Algorithm Aiming at achieving the compliance control of lower limbs exoskeleton, a compliant control strategy basing on optimized compliance algorithm was proposed. The motion trajectory of human body was collected by using inertial sensors and electromyography sensors, and the information is taken as the reference information to the exoskeleton robot. By introducing muscle activation degree as the feedforward loop to offset the hysteresis phenomenon which is shown in the process of movement, the following movement achieved compliant. The feasibility of this control method is both verified on the simulation software platform and physical prototype. The experimental results show that this control method is effective and feasible in the lower limbs exoskeleton system.

Design of A Lower Limb Exoskeleton Driven by Tendonsheath Artificial Muscle * In the past decades, with the development of science and technology, lower limb exoskeletons have been developed quickly, which can help patients to walk or do rehabilitation training. In this paper, the design of a lower limb exoskeleton, named SEUEXO, will be presented in detail. The SEUEXO is driven by a new type of artificial muscle, which actuated by a motor and tendonsheath system based on Hill muscle model. In this structure, with a controllable clamper, a series spring and a parallel spring, this artificial muscle can mimics musclexe2x80x99s characteristics, and has better compliance and controllability. Based on the principle of bionics, the degrees of freedom for rehabilitation exoskeleton are allocated reasonably, the mechanical structure is presented, and the tendonsheath transmission path optimization method is studied. Finally, the evaluation experiments are verified, which proves the reliability and stability of the SEUEXO.