直线电机外骨骼被动元件参数最优匹配方法

The energy consumption and duration of flight are key performance indexes used to determine the feasibility of using exoskeleton robots in practical applications. This work proposed a method for the optimization of the param-pattern of passive elements to reduce energy consumption by exoskeleton actuators. First, the object function and the constraint equation of the optimal param-pattern were proposed. Then, the optimal parameters of the passive element were identified by using an improved genetic algorithm based on the Kalman filtering algorithm. Experiments showed that this method can decrease energy consumption by exoskeleton actuators driven by linear motors.