期刊
出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/09544062211035801
关键词
Upper-limb exoskeleton; human-robot interface; contact force; soft skin sensor; virtual admittance control
资金
- National Natural Science Foundation of China [62073063, 61873054, 61503070]
The study involved using a human-robot interface to regulate an upper-limb exoskeleton tracking human elbow motion trajectory. Soft skin sensors were utilized to record contact force signals for information transportation and interaction control.
The upper-limb exoskeleton is capable of enhancing human arm strength beyond normal levels, whereas deriving the operator's desired action straightforward turns out to be one of the significant difficulties facing human-robot interaction research. In the study, the human-robot interface was presented to regulate the exoskeleton tracking human elbow motion trajectory that employed the contact force signals between the exoskeleton and its operator as the primary means of information transportation. The signals were recorded by adopting the novel soft skin sensors attached to the bracket on the exoskeleton linkage, which could reflect the human arm motion intention through the virtual admittance model and adaptive control. Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment.
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