To eliminate the influence of spacesuits’ joint resistant torque on the operation of astronauts, an active spacesuit scheme based on the joint-assisted exoskeleton technology is proposed. Firstly, we develop a prototype of the upper limb exoskeleton robot and theoretically analyse the prototype to match astronauts’ motion behavior. Then, the Jiles-Atherton model is adopted to describe the hysteretic characteristic of joint resistant torque. Considering the parameter identification effects in the Jiles-Atherton model and the local optimum problem of the basic PSO (particle swarm optimization) algorithm, a SA- (simulated annealing-) PSO algorithm is proposed to identify the Jiles-Atherton model parameters. Compared with the modified PSO algorithm, the convergence rate of the designed SA-PSO algorithm is advanced by 6.25% and 20.29%, and the fitting accuracy is improved by 14.45% and 46.5% for upper limb joint model. Simulation results show that the identified J-A model can show good agreements with the measured experimental data and well predict the unknown joint resistance torque.


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    Title :

    Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm


    Contributors:
    Zhao-yang Li (author) / Yue-hong Dai (author) / Jun-yao Wang (author) / Peng Tang (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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