期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 49, 期 5, 页码 954-963出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2706694
关键词
Adaptive robust control; biomimetic; coordination control; impedance control; stiffness estimation
资金
- National Natural Science Foundation of China [61573147, 91520201, 61625303]
- Guangzhou Research Collaborative Innovation Projects [2014Y2-00507]
- Guangdong Science and Technology Research Collaborative Innovation Projects [2014B090901056, 2015B020214003]
- Guangdong Science and Technology Plan Project (Application Technology Research Foundation) [2015B020233006]
- National High-Tech Research and Development Program of China (863 Program) [2015AA042303]
This paper has developed a coordination control method for a dual-arm exoskeleton robot based on human impedance transfer skills, where the left (master) robot arm extracts the human limb impedance stiffness and position profiles, and then transfers the information to the right (slave) arm of the exoskeleton. A computationally efficient model of the arm endpoint stiffness behavior is developed and a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. A reference command consisting of the stiffness and position profiles of the operator is computed and realized by one robot in real-time. Considering the dynamics uncertainties of the robotic exoskeleton, an adaptive-robust impedance controller in task space is proposed to drive the slave arm tracking the desired trajectories with convergent errors. To verify the robustness of the developed approach, a study of combining adaptive control and human impedance transfer control under the presence of unknown interactive forces is conducted. The experimental results of this paper suggest that the proposed control method enables the subjects to execute a coordination control task on a dual-arm exoskeleton robot by transferring the stiffness from the human arm to the slave robot arm, which turns out to be effective.
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