中文摘要：

将阻抗控制方法引入骨骼服的控制中,利用人机之间安装的多维力/力矩传感器的测量信息来估计参考轨迹。针对由于普通差分方法引起噪声放大,使得参考速度和参考加速度不可用的问题,利用两级跟踪微分器获得包含测量噪声情况下的光滑的参考速度和参考加速度信号,从而实现所设计的阻抗控制。该方法能控制骨骼服跟随人体运动,同时保持人体对骨骼服的作用力最小,减轻人体的能量消耗。采用该方法对人体负荷情况下的蹲起动作进行仿真实验,仿真结果验证了所设计控制器的有效性和可行性,以及对人体刚度参数估计不准和负荷变化具有一定的鲁棒性。

英文摘要：

An impedance control method is introduced for the control of exoskeleton suit.It uses multidimensional force/torque sensors installed between the exoskeleton and the pilot to estimate the reference trajectory.Because common difference method will amplify the noise and make the reference velocity and acceleration signal deteriorate,two serial tracking differentiators are used to get the smooth signals（referenced velocity and acceleration） and realize the designed impedance control method.The method can be applied to control the exoskeleton suit to follow the pilot′s motion and minimize the interaction force as well as decrease the pilot′s power consumption.Simulation of the crouch and stand motion when the pilot carries heavy load is made.The simulation results show the validity and feasibility of the designed controller.At the same time,the controller is robust to the variation of the estimated human stiffness and the load.