Communication Dans Un Congrès Année : 2025

Control Performance Improvement of the Decoupled Exoskeleton Arm

Résumé

In the application of the exoskeleton arm, nonlinear inertial forces impact mechanical transparency and degrade control performance. To reduce these effects, a dynamic decoupling technique is employed to linearize the dynamics of 2-DOF exoskeleton arms. Incorporating an epicyclic gear train provides a means of optimally redistributing kinetic energy, thus contributing to linearizing and decoupling the system's dynamic behavior. Furthermore, a minimum jerk trajectory is implemented for motion generation, effectively minimizing the variations in actuating forces. To ensure precise motion tracking and high energy efficiency, a linear controller with simple structure is applied. The suggested design methodology is illustrated by simulation, demonstrating its effectiveness in improving overall control performance.

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Dates et versions

hal-05069789 , version 1 (15-05-2025)

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Identifiants

  • HAL Id : hal-05069789 , version 1

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Yaodong Lu, Vigen Arakalian, Yannick Aoustin. Control Performance Improvement of the Decoupled Exoskeleton Arm. Mesrob 2025, Pprime; CNRS; Université de Poitiers, Jul 2025, Poitiers, France. ⟨hal-05069789⟩
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