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A virtual prototype design and corresponding mathematical model analysis is presented. To obtain a stable and smooth synthesized gait, the zero-moment-point (ZMP) theory and three spline interpolation method have been combined and applied. A novel data-driven model free control strategy, called Time-Delay Estimation based intelligent PID (TDEiPID) combined with Equivalent Sliding Mode Control (TDE-iPIDESMC), is developed for the trajectory tracking of the planned gait. To demonstrate the effectiveness of the proposed planning gait and controllers, the exoskeleton system is implemented on the co-simulation platform composing of Adams and MATLAB/Simulink. The corresponding cosimulation results show better performances than the compared classical PID and TDE-iPID methods.

ZMP Theory-based Gait Planning and Model-Free Trajectory Tracking Control of Lower Limb Carrying Exoskeleton System