Abstract:

：In order to improve flexibility and multi-joints autonomy in walking assist, a novel notion of human-robot interaction (HRI)-based coordination control method is explored combing HRI technology based on CPGs network with dual mechanisms of “outer-interaction” and “inner-inhibition”. A CPG unit with its outer-interaction mechanism is connected to each left and right hip joint to guarantee the independent HRI occurring at each side. Mutual inner inhibitions are connected to both left and right CPGs to maintain an anti-phase relationship of the left and right hip joints, and to guarantee stable walking assist in the complicated HRI environment. The validity of the proposal is verified by wearable walking assist experiments.

Key words: anti-phase, coordination control, inner-inhibition, outer-interaction, hip joints motion assist