| 摘要 |
Disclosed herein is a control system (20, 60) for an exoskeleton haptic device (1), having: a frame structure (3), to be coupled to the body of a subject (2); actuators (10), carried by the frame structure (3) and operable to cause movement of a number of joints (7, 8, 9) of the body; and sensors (14), coupled to the body to detect first signals (y o ) indicative of an intention of movement of the subject (2). The control system is provided with: a feedback stage (24), controlling a position of the joints (7, 8, 9) based on a reference position (¸ref); a feedforward stage (21), controlling a compliance presented by the exoskeleton haptic device (1) to the subject (2) based on the detected first signals (y o ); and a combining block (22), combining outputs from the feedback stage (24) and feedforward stage (21) in order to generate a driving signal (u m ) for the actuators (10), thereby imposing a controlled position (¸) to the joints (7, 8, 9). This primary control action may also be integrated with a posture equilibrium control, for controlling postural equilibrium of the subject (2) during the movement.
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