Rituraj Rituraj, Rudolf Scheidl,
"Control optimization of digital hydraulic drive for knee exoskeleton"
: ENOC 2022 - 10th European Nonlinear Dynamics Conference, July 17-22, Lyon, France., 7-2022
Original Titel:
Control optimization of digital hydraulic drive for knee exoskeleton
Sprache des Titels:
Englisch
Original Buchtitel:
ENOC 2022 - 10th European Nonlinear Dynamics Conference, July 17-22, Lyon, France.
Original Kurzfassung:
A successful knee exoskeleton device must follow the periodic motion of the gait cycle in an energy efficient manner. This
work investigates an optimal control strategy that can allow the periodic behavior of such a device with minimum error while also
consuming minimum energy. Using a multi-objective optimization technique, a trade-off between the periodicity error and energy
consumption is demonstrated. From the pareto front, an optimal control variable set is determined which allows an acceptable
periodic behavior of the knee exoskeleton with negligible energy consumption.