Intelligent Perception System and Hydraulic Position Control Simulation of Lower Extremity Exoskeleton Suit

The human exoskeleton suit is a complex high degree of man-machine coupling system, which can amplify the wearer's capabilities. In the paper, intelligent perception system and Hydraulic Position Control Simulation of Lower Extremity Exoskeleton are detailed. For intelligent perception system, firstly, the layered architecture of perception system is used to integrate various sensors. Secondly, all information are transmitted through CAN bus. Thirdly, machine-learning technologies are adopted in gait recognition in order to be customized for different user and different situation. In controller, position feedback control loop is built to impetus hydraulic actuator to support the payload. The algorithms of position controller use a combination of PI and lead correction network control structure.