Currently, extensive research is being carried out on exoskeletons to improve human mobility and reduce the risk of occupational injuries in industrial environments. The purpose of this paper is to develop a novel control scheme for the WL-LEEX exoskeleton to help industrial workers efficiently carry heavy loads.
A movement tracking control approach is used with the inertial measurement unit equipped WL-LEEX exoskeleton. The controller has four modules for torque planning during the stance and swing phases and offers assistance for static and walking tasks. A data-driven method controls the torque of the sensorless motor. Experiments are performed.
The hybrid torque planning method is superior to using only tracking or assistance. In walking mode, the human–robot interaction (Hri) torques for the hips and knees are 4.62 N and 2.32 N, which generates positive power. It reliably produces torque commands for squatting and walking, despite the high variance.
A novel hybrid torque planning-based movement tracking control for industrial exoskeleton is proposed to track human gait and reduce HRi torque disturbance, offering a more adaptable and efficient solution for industrial exoskeletons, achieving state-of-the-art performance compared to previous research.
