Journal of Astronautics ›› 2015, Vol. 36 ›› Issue (5): 566-573.doi: 10.3873/j.issn.1000-1328.2015.05.011

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Force Control of Multimodal Cable Driven Astronaut Training Robot

ZOU Yu peng, ZHANG Li xun, LI Lai lu   

  1. 1. College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China; 2. College of Mechanical and Electronic Engineering, China University of Petroleum (Huadong), Qingdao 266580, China
  • Received:2014-05-19 Revised:2014-08-15 Online:2015-05-15 Published:2015-05-25


To help the astronauts who live and work in the microgravity environment for a long-time do rehabilitation training, a multimodal cable driven astronaut training robot is presented. To simulate the load characteristics of the gravity environment by use of the robot and load the force on human body, the robot can realize multiple physical exercises including running, bench press and deep squat, which can help the astronauts to alleviate the adverse impact caused by the space adaptation syndrome. The current training devices for astronauts have problems such as singular function and unsatisfactory training effect. With the aim to solve these problems, a modular reconfigurable robot configuration is proposed. A dual-closed-loop control strategy is designed. The results of the running experiment verify that the configuration of the robot is reasonable and the control strategy is effective. The robot can assist the physical training of astronauts who live and work in the microgravity environment.

Key words: Multimodal astronaut training robot, Cable driven, Passive force servo, Force control

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