期刊
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
卷 19, 期 10, 页码 10601-10612出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2023.3240749
关键词
Exoskeletons; Torque; Impedance; Springs; Pulleys; Actuators; Estimation; Assist-as-needed (AAN); physical human-robot interaction (pHRI); rehabilitation exoskeleton; surface electromyography signal (sEMG); variable stiffness actuator (VSA)
This article presents a variable stiffness knee exoskeleton robot that can independently control stiffness and position. It also proposes a physical human-robot interaction (pHRI) control scheme based on joint torque estimation using the mechanical properties of the exoskeleton. The article further demonstrates the effectiveness of the torque estimation method and the pHRI control scheme through experiments.
Robotic exoskeleton assistance is an effective method for the treatment of patients with movement disorders. First, this article presents a variable stiffness knee exoskeleton robot, which can independently control stiffness and position and has a large stiffness range under low preload. Then, combined with the designed variable stiffness exoskeleton, a physical human-robot interaction (pHRI) control scheme based on joint torque estimation is proposed. Different from previous studies, this method uses the mechanical properties of the exoskeleton to achieve pHRI without complex control algorithms and force/torque sensors. Furthermore, the joint torque is estimated based on the surface electromyography signal and the Hill-based muscle model, and the exoskeleton can realize assist-as-needed function: when the subject trains with less effort, the exoskeleton maintains a high output physical impedance to provide high tracking accuracy; and when the subject trains with greater effort, the exoskeleton maintains a low output impedance to provide high physical compliance. Finally, we conducted experiments on three healthy subjects and two subjects with lower limb motor dysfunction to verify the effectiveness of the torque estimation method and the pHRI control scheme.
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