Method and system for extracting intended torque for wearable robot

摘要

A method for extracting intended torque for a wearable robot includes a motor torque calculating step, a link rotation calculating step and an intended torque calculating step. In the motor torque calculating step, motor torque is calculated from the angular velocity of rotation of the motor. In the link rotation calculating step, the angular velocity of rotation of the link is calculated. In the intended torque calculating step, the motor torque and the angular velocity of rotation of the link are substituted into a disturbance observer, and an estimated value of the intended torque applied by a wearer is calculated.

主权项

1. A system for extracting an intended torque for a wearable robot, comprising:
a motor sensor configured to measure an angle or angular velocity of rotation of a motor driving a joint; a link sensor configured to measure an angle or angular velocity of rotation of a link connected to the joint; and a controller configured to substitute a motor torque calculated from the angular velocity of rotation of the motor and the angular velocity of rotation of the link into a disturbance observer, and calculate an estimated value of the intended torque applied by a wearer, wherein the estimated value of the intended torque is added to a demand torque, an estimated value of a friction torque is removed from the added result, a fixed demand torque is obtained, and the motor is controlled according to the fixed demand torque, and the angle of rotation of the motor and the angular velocity of rotation of the motor are substituted into an extended-kalman filter, and the estimated value of the friction torque is calculated.