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Gait multi-objectives optimization of lower limb exoskeleton robot based on BSO-EOLLFF algorithm

Published online by Cambridge University Press:  25 August 2022

Peng Zhang ,
Junxia Zhang Open the ORCID record for Junxia Zhang [Opens in a new window]  and
Ahmed Elsabbagh
Peng Zhang
Affiliation:
Tianjin University of Science and Technology, Tianjin, China Tianjin Key Laboratory for Integrated Design and Online Monitor Center of Light Design and Food Engineering Machinery Equipment, Tianjin, China
Junxia Zhang*
Affiliation:
Tianjin University of Science and Technology, Tianjin, China Tianjin Key Laboratory for Integrated Design and Online Monitor Center of Light Design and Food Engineering Machinery Equipment, Tianjin, China
Ahmed Elsabbagh
Affiliation:
School of Design and Production Engineering, Ain Shams University, Cairo, Egypt
*
*Corresponding author. E-mail: zjx@tust.edu.cn
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Abstract

Aiming at problems of low optimization accuracy and slow convergence speed in the gait optimization algorithm of lower limb exoskeleton robot, a novel gait multi-objectives optimization strategy based on beetle swarm optimization (BSO)-elite opposition-based learning (EOL) levy flight foraging (LFF) algorithm was proposed. In order to avoid the algorithm from falling into the local optimum, the EOL strategy with global search capability, the LFF strategy with local search capability and the dynamic mutation strategy with high population diversity were introduced to improve optimization performance. The optimization was performed by establishing a multi-objectives optimization function with the robot’s gait zero moment point (ZMP) stability margin and driving energy consumption. The joint comparative tests were carried out in SolidWorks, ADAMS and MATLAB software. The simulation results showed that compared with the particle swarm optimization algorithm and the BSO algorithm, the ZMP stability margin obtained by the BSO-EOLLFF algorithm was increased, and the average driving energy consumption was reduced by 25.82% and 17.26%, respectively. The human-machine experiments were conducted to verify the effectiveness and superiority. The robot could realize stable and smooth walking with less energy consumption. This research will provide support for the application of exoskeleton robot.

Keywords

exoskeleton robotmulti-objectives optimization functionzero moment pointBSO-EOLLFF algorithm

Information

Type
Research Article
Information
Robotica , Volume 41 , Issue 1 , January 2023 , pp. 174 - 192
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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