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Gravity Compensation Based Control for Lower-Limb Load-Bearing Exoskeleton

Exoskeleton developed for military purpose is to enhance one’s endurance and strength, and to reduce operator’s energy expenditure during walking with payloads under the assistance of exoskeleton. The idea to control this kind of exoskeleton is to compensate the weight from the exoskeleton and the payloads it carries, and at the same time to follow the operators' movement. A control strategy refers to this idea is proposed. The gravity and friction of the lower-limb exoskeleton are analyzed based on a simplified model. A real exoskeleton prototype is constructed for verification. The experiment about energy expenditure quantified by PCI with the assistance of exoskeleton shows a satisfactory result.