Two-Stage Trajectory-Tracking Control of Cable-Driven Upper-Limb Exoskeleton Robots with Series Elastic Actuators: A Simple, Accurate, and Force-Sensorless Method

被引：0

作者：

Shu, Yana ^{[1
]}

Chen, Yu ^{[2
]}

Zhang, Xuan ^{[1
]}

Zhang, Shisheng ^{[3
]}

Chen, Gong ^{[3
]}

Ye, Jing ^{[3
]}

Li, Xiang ^{[2
]}

机构：

[1] Tsinghua Univ, Tsinghua Shenzhen Int Grad Sch, Beijing, Peoples R China

[2] Tsinghua Univ, Dept Automat, Beijing, Peoples R China

[3] Shenzhen MileBot Robot Co Ltd, Shenzhen, Peoples R China

来源：

2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS | 2023年

基金：

中国国家自然科学基金;

关键词：

REHABILITATION;

D O I：

10.1109/IROS55552.2023.10342056

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The advantages of cable-driven exoskeleton robots with series elastic actuators can be summarized in twofold: 1) the inertia of the robot joint is relatively low, which is more friendly for human-robot interaction; 2) the elastic element is tolerant to impacts and hence provides structural safety. As trade-offs, the overall dynamic model of such a system is of high order and subject to both unmodelled disturbances (due to the cable-driven mechanism) and external torques (due to the human-robot interaction), opening up challenges for the controller development. This paper proposes a new trajectory-tracking control scheme for cable-driven upper-limb exoskeleton robots with series elastic actuators. The control objectives are achieved in two stages: Stage I is to approximate then compensate for unmodelled disturbances with iterative learning techniques; Stage II is to employ a suboptimal model predictive controller to drive the robot to track the desired trajectory. While controlling such a robot is not trivial, the proposed control scheme exhibits the advantages of force-sensorlessness, high accuracy, and low complexity compared with other methods in the real-world experiments.

引用

页码：2470 / 2476

页数：7