4.6 Article

Variable admittance time-delay control of an upper limb rehabilitation robot based on human stiffness estimation

期刊

MECHATRONICS
卷 90, 期 -, 页码 -

出版社

PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2022.102935

关键词

Upper limb rehabilitation robot; Variable admittance; Time-delay control; Human stiffness estimation; Interaction compliance

向作者/读者索取更多资源

This paper proposes a new variable admittance time-delay control strategy based on human stiffness estimation for improving the effectiveness of robot-assisted cooperative rehabilitation training. The control strategy utilizes a time-delay approximator to estimate external disturbances and modeling errors, a sliding mode admittance controller to achieve desired admittance characteristics, and an iterative optimization algorithm to estimate human arm stiffness and adjust human-robot interaction compliance. Experimental investigations involving ten subjects are conducted to validate the feasibility of the proposed control scheme, showing its potential to satisfy the specific training requirements of patients with different weakness levels and promote the effectiveness of robot-assisted training.
This paper proposes a new variable admittance time-delay control strategy based on human stiffness estimation for improving the effectiveness of robot-assisted cooperative rehabilitation training. This control strategy is developed and implemented on a planar upper limb rehabilitation robot. Given the minimum-jerk-based desired trajectories of human hand position, in the developed control strategy, a time-delay approximator is utilized to estimate the external disturbances and modeling errors without exact knowledge of dynamics parameters, a sliding mode admittance controller is applied to obtained objective admittance characteristics, and an iterative optimization algorithm is used to estimate human arm stiffness and adjust human-robot interaction compliance. The closed-loop stability of the proposed control method is demonstrated via Lyapunov function theory. Experimental investigations involving ten subjects are conducted to validate the feasibility of the proposed control scheme. The experimental results show that the interaction compliance during cooperative rehabilitation training can be accurately adjusted based on selected admittance parameters and human arm stiffness, and it contributes to satisfying the specific training requirements of patients with different weakness levels and pro-moting the effectiveness of the robot-assisted training.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.6
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据