2019
DOI: 10.1109/tmech.2019.2912488
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A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions

Abstract: This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction in the control loop. The robot interacts with the human operator via F/T sensor and interacts with the environment mainly via end-effectors. Although the environmental interaction cannot be detected by any sensors (hence unknown), passivity allows us to have natur… Show more

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Cited by 37 publications
(19 citation statements)
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“…Manipulators are nowadays massively employed in a broad range of tasks. From factories to aerospace [1], from warehouses to hospitals, robotic systems are increasingly deployed in various unstructured environments, occasionally foreseeing the presence of humans operating the manipulator [2]. In such scenarios, robots are demanded to interact with the surrounding workspace while guaranteeing safety and stability [3], [4], which translates into controlling the force the manipulator exerts on the environment, so as to avoid unwanted behaviors during its task execution [5].…”
Section: A Contextmentioning
confidence: 99%
“…Manipulators are nowadays massively employed in a broad range of tasks. From factories to aerospace [1], from warehouses to hospitals, robotic systems are increasingly deployed in various unstructured environments, occasionally foreseeing the presence of humans operating the manipulator [2]. In such scenarios, robots are demanded to interact with the surrounding workspace while guaranteeing safety and stability [3], [4], which translates into controlling the force the manipulator exerts on the environment, so as to avoid unwanted behaviors during its task execution [5].…”
Section: A Contextmentioning
confidence: 99%
“…Since the passive systems converge to minimum energy states when there is not any other input, passivity theorem has been utilized in control design in the literature. [55][56][57] One can change the minimum energy states through proposing a simple proportional feedback controller like u = −K di y, where K di = K di > 0, thus, in the closed-loop system F(x) ≥ 0, andḞ(x) ≤ u y = −y K di y ≤ 0, and the system converges to the new minimum energy states. We use this theory here in Lemma 2.…”
Section: Impedance Control Design Based On Passivity Theoremmentioning
confidence: 99%
“…19,20 However, the existing research on the dynamics modeling of the upper limb exoskeleton rehabilitation robot is mainly focused on the rehabilitation robot’s mechanical structure. 19 ,21 In practical application, the rehabilitation robot and the patient’s upper limb move together. They interact and jointly affect the rehabilitation effect.…”
Section: Introductionmentioning
confidence: 99%