针对一种下肢外骨骼机器人，设计了一种基于步态识别的阻抗自调整控制方法，并通过实验验证，与传统的位置控制、阻抗恒定控制方法进行了对比分析。通过建立一套基于雷达图的指标体系，对不同的外骨骼支撑相控制实验结果进行了科学评价，发现阻抗自调整控制能够保证外骨骼在支撑相不同阶段满足不同的运动需求，与传统阻抗控制方法相比具有最优的总体运动效果。
To improve the lower limb exoskeleton moving effect, an impedance self-adjusted control method by gait classification for support phase is presented, and a comparative analysis between traditional position control method and constant impedance control methods and the impedance self-adjusted control method is experimentally conducted by setting up an indicator system based on radar maps and evaluating the moving effects of different control methods during the support phase. Results show that the impedance self-adjusted control method can meet different sports needs at different stages of the supporting phase, which has optimal overall motion effect compared with the traditional impedance control method.
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