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Torque Tracking Control for Lower Exoskeleton Robot with Friction Compensation based on System Identification.

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Title: Torque Tracking Control for Lower Exoskeleton Robot with Friction Compensation based on System Identification.
Authors: Liu, Fenggang1 fg_liu1314@163.com, Zhan, Mingfang1 405575878@qq.com, Yu, Lie1 337293948@qq.com
Source: IAENG International Journal of Applied Mathematics. Jul2026, Vol. 56 Issue 7, p2541-2550. 10p.
Subjects: System identification, Least squares, Robust control, Robotic exoskeletons, Hydraulic servomechanisms
Abstract: This study proposes an enhanced friction model based on the Dahl approach for exoskeleton robots driven by electro-hydraulic servo systems (EHSS). The model parameters are determined using a recursive least squares identification scheme. Experimental data are collected from sensors mounted on the exoskeleton robot. Encoders are used to measure the joint angle and velocity, while two pressure sensors installed in the EHSS measure the pressures in the head chamber and rod chamber. The friction force is directly computed from the dynamic equation at very low motion speeds. The system identification method with recursive least square is used to identify the parameters of Dahl model, and the best parameter gains are obtained through walking tests. Two control cases are examined, such as one without friction compensation and the other with friction compensation. The results show that friction compensation reduces tracking lag and mean absolute error, and improves overall control performance. [ABSTRACT FROM AUTHOR]
Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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An: 195026886
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  Label: Title
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  Data: Torque Tracking Control for Lower Exoskeleton Robot with Friction Compensation based on System Identification.
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  Data: <searchLink fieldCode="AR" term="%22Liu%2C+Fenggang%22">Liu, Fenggang</searchLink><relatesTo>1</relatesTo><i> fg_liu1314@163.com</i><br /><searchLink fieldCode="AR" term="%22Zhan%2C+Mingfang%22">Zhan, Mingfang</searchLink><relatesTo>1</relatesTo><i> 405575878@qq.com</i><br /><searchLink fieldCode="AR" term="%22Yu%2C+Lie%22">Yu, Lie</searchLink><relatesTo>1</relatesTo><i> 337293948@qq.com</i>
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  Data: <searchLink fieldCode="JN" term="%22IAENG+International+Journal+of+Applied+Mathematics%22">IAENG International Journal of Applied Mathematics</searchLink>. Jul2026, Vol. 56 Issue 7, p2541-2550. 10p.
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  Data: <searchLink fieldCode="DE" term="%22System+identification%22">System identification</searchLink><br /><searchLink fieldCode="DE" term="%22Least+squares%22">Least squares</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+exoskeletons%22">Robotic exoskeletons</searchLink><br /><searchLink fieldCode="DE" term="%22Hydraulic+servomechanisms%22">Hydraulic servomechanisms</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This study proposes an enhanced friction model based on the Dahl approach for exoskeleton robots driven by electro-hydraulic servo systems (EHSS). The model parameters are determined using a recursive least squares identification scheme. Experimental data are collected from sensors mounted on the exoskeleton robot. Encoders are used to measure the joint angle and velocity, while two pressure sensors installed in the EHSS measure the pressures in the head chamber and rod chamber. The friction force is directly computed from the dynamic equation at very low motion speeds. The system identification method with recursive least square is used to identify the parameters of Dahl model, and the best parameter gains are obtained through walking tests. Two control cases are examined, such as one without friction compensation and the other with friction compensation. The results show that friction compensation reduces tracking lag and mean absolute error, and improves overall control performance. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 10
        StartPage: 2541
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      – SubjectFull: System identification
        Type: general
      – SubjectFull: Least squares
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Robotic exoskeletons
        Type: general
      – SubjectFull: Hydraulic servomechanisms
        Type: general
    Titles:
      – TitleFull: Torque Tracking Control for Lower Exoskeleton Robot with Friction Compensation based on System Identification.
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            NameFull: Liu, Fenggang
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            – D: 01
              M: 07
              Text: Jul2026
              Type: published
              Y: 2026
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