PID control of lower limb exoskeleton optimized based on genetic algorithm

Qi Fu; Zhaoru Jiang; Jiayi Li

doi:10.1117/12.2660739

31 October 2022 PID control of lower limb exoskeleton optimized based on genetic algorithm

Qi Fu, Zhaoru Jiang, Jiayi Li

Proceedings Volume 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022); 124571L (2022) https://doi.org/10.1117/12.2660739
Event: Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 2022, Changchun, China

Abstract

Mobility assistance for the elderly has become a key issue of social concern. At present, mobility assistance exoskeletons have been invented to assist the elderly to walk. However, there is still a key point at issue about how to make them more lightweight, portable, stable, and controllable. This paper is intended to assist walking in the elderly, and the lower limb assist exoskeleton is designed from the structure and the control is optimized. Structurally, the Bowden cable remote transmission series spring pre-tensioner is used to make it lighter and more flexible. In terms of control, a PID closed-loop control model based on genetic algorithm optimization is established, and the force output curve after PID optimization is compared with the force output curve under the conventional PID tuning mode. The characteristics of system control accuracy, response speed, and stability under different PID parameters are analyzed, as well as the superiority of PID control based on genetic algorithm optimization is verified. This lower limb exoskeleton control method optimized by a genetic algorithm improves the overall control accuracy of the control system. In addition, the whole skeleton is lightweight, portable, comfortable, and controllable, which finally achieves the purpose of assisting the elderly to walk in a safer and more convenient way.

Citation Download Citation

Qi Fu, Zhaoru Jiang, and Jiayi Li "PID control of lower limb exoskeleton optimized based on genetic algorithm", Proc. SPIE 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 124571L (31 October 2022); https://doi.org/10.1117/12.2660739

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