Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition

被引:133
作者
Huang, Jian [1 ]
Huo, Weiguang [2 ]
Xu, Wenxia [1 ]
Mohammed, Samer [2 ]
Amirat, Yacine [2 ]
机构
[1] Huazhong Univ Sci & Technol, Sch Automat, Key Lab Minist Educ Image Proc & Intelligent Cont, Wuhan 430074, Peoples R China
[2] Univ Paris Est Creteil, Lab Images Signals & Intelligent Syst LISSI, F-94400 Creteil, France
基金
中国国家自然科学基金;
关键词
Admittance control; human-robot interaction; motion intention; power-assist exoskeleton; REHABILITATION;
D O I
10.1109/TASE.2015.2466634
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Recognition of the wearer's motion intention plays an important role in the study of power-assist robots. In this paper, an intention-guided control strategy is proposed and applied to an upper-limb power-assist exoskeleton. Meanwhile, a human-robot interface comprised of force-sensing resistors (FSRs) is designed to estimate the motion intention of the wearer's upper limb in real time. Moreover, a new concept called the "intentional reaching direction (IRD)" is proposed to quantitatively describe this intention. Both the state model and the observation model of IRD are obtained by studying the upper limb behavior modes and analyzing the relationship between the measured force signals and the motion intention. Based on these two models, the IRD can be inferred online using an adapted filtering technique. Guided by the inferred IRD, an admittance control strategy is deployed to control the motions of three DC motors placed at the corresponding joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by experiments on a 3 degree-of-freedom (DOF) upper-limb robotic exoskeleton.
引用
收藏
页码:1257 / 1270
页数:14
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