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<p>To enhance the human–machine interaction performance of lower limb exoskeleton robot, a RBF network adaptive sliding mode fractional-order admittance control strategy based on model approximation is proposed to realize collaborative compliance in human–machine interaction. Firstly, the configuration of the lower limb exoskeleton robot is introduced, and a kinetic model of the system is established. Then, the derivation process of the RBF network adaptive sliding mode fractional-order admittance control strategy based on model approximation and the stability of the control system are analyzed. Finally, the feasibility of the designed RBF network adaptive sliding mode fractional-order admittance controller based on model approximation in enhancing human–machine interaction and achieving good compliant control of robot system is verified through experiment. This laid the foundation for the prototype testing of lower limb exoskeleton robot in the future.</p>

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Research on a RBF-based compliance control method of lower limb exoskeleton robots

  • 期刊论文

  • 发表日期：

    2025年9月25日

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  • Xiang Li,
  • Jinghang Li,
  • Yanzhuo Wang,
  • Keyi Wang,
  • Bo Cui,
  • Yi Yuan

摘要

To enhance the human–machine interaction performance of lower limb exoskeleton robot, a RBF network adaptive sliding mode fractional-order admittance control strategy based on model approximation is proposed to realize collaborative compliance in human–machine interaction. Firstly, the configuration of the lower limb exoskeleton robot is introduced, and a kinetic model of the system is established. Then, the derivation process of the RBF network adaptive sliding mode fractional-order admittance control strategy based on model approximation and the stability of the control system are analyzed. Finally, the feasibility of the designed RBF network adaptive sliding mode fractional-order admittance controller based on model approximation in enhancing human–machine interaction and achieving good compliant control of robot system is verified through experiment. This laid the foundation for the prototype testing of lower limb exoskeleton robot in the future.