Active Disturbance Rejection Control of Lower Limb Exoskeleton Based on Genetic Algorithm

Aiming at the problem of movement disorders in the elderly or people with lower limb muscle function degradation caused by diseases, this paper designs an exoskeleton robot that can provide assistance for human hip extension and flexion. According to the gait characteristics of the hip joint during walking, an assist strategy and an assist function are proposed to control the motor to track the desired assist curve, so that the exoskeleton robot can provide assistance to the human hip joint. In order to reduce the influence of external interference and improve the assist effect, active disturbance rejection control based on genetic algorithm is introduced. Finally, the tracking performance and anti-interference performance of the controller are verified by simulation, and the prototype of the lower limb exoskeleton robot and the corresponding experimental platform are built to evaluate the assist effect. Through the walking experiment, the change of hip joint torque under the condition of human motion is observed. It is found that the hip joint torque under the condition of power is lower than that without power. The above simulation and experiment verify that this method can improve the assist performance of the exoskeleton robot and provide effective assistance to the human body.