A Robust Adaptive Admittance Control Scheme for Robotic Knee Prosthesis Using Human-Inspired Virtual Constraints

Huang, Yongshan; An, Honglei; Wei, Qing; Ma, Hongxu

doi:10.1109/access.2020.3022656

Cited by 9 publications

(4 citation statements)

References 52 publications

(51 reference statements)

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“…However, since the mass matrix M E is usually high nonlinear. In this study, the mass-damping-stiffness model is simplified as the damping-stiffness model, which is used to interact with a balloon as a kind of flexible object (Huang et al, 2020 ; Shen et al, 2020 ). The simplified model is as follows:…”

Section: Methodsmentioning

confidence: 99%

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

et al. 2022

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To meet the enormous demand for smart manufacturing, industrial robots are playing an increasingly important role. For industrial operations such as grinding 3C products, numerous demands are placed on the compliant interaction ability of industrial robots to interact in a compliant manner. In this article, an adaptive compliant control framework for robot interaction is proposed. The reference trajectory is obtained by single-point demonstration and DMP generalization. The adaptive feedforward and impedance force controller is derived in terms of position errors, and they are input into an admittance controller to obtain the updated amount of position deviation. The compliant interaction effect is achieved, which is shown that the grinding head fits on the curved surface of a computer mouse, and the interaction force is within a certain expected range in the grinding experiment based on the performance an Elite robot. A comparative experiment was conducted to demonstrate the effectiveness of the proposed framework in a more intuitive way.

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Section: Methodsmentioning

confidence: 99%

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

et al. 2022

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“…n l l n l l n l l . Take y in equation (19) as the control input and set: (22) It is clear that x is no longer guaranteed to converge to zero due to the presence of * η . So it's necessary to study in depth the stability of the controller under unknown external forces.…”

Section: T U M L Y C Ll L N Ll J L Hmentioning

confidence: 99%

Research on human-robot collaboration method for parallel robots oriented to segment docking

Sun,

Wang,

et al. 2024

Preprint

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In the field of aerospace, large and heavy cabin segments present a significant challenge in assembling space engines. The considerable inertial force of cabin segments’ mass causes unexpected motion during docking, leading to segment collisions and difficulty in ensuring precise engine segment docking. Traditional manual docking utilizes workers' expertise, yet the labor-intensive nature and low productivity are unsuitable for practical applications. Human-robot collaboration can effectively integrate the advantages of humans and robots. Additionally, parallel robots, known for their precision and load-bearing ability, are widely employed in precise assembly tasks under heavy loads. Thus, human-parallel-robot collaboration serves as an excellent solution for these challenges. This paper proposes an easily implementable framework, employing human-parallel-robot collaboration technology for cabin segment docking in production. A fractional-order variable damping admittance control and an inverse dynamics robust controller are suggested to improve the robot's compliance, responsiveness, and trajectory tracking accuracy in collaboration. This allows operators to dynamically adjust the robot's motion in real-time, counterbalancing inertial forces and preventing collisions. Segment docking assembly experiments are conducted utilizing the Stewart platform in this study. The results show that the proposed method enables the robot to quickly respond to interaction forces, ensuring compliance and stable motion accuracy, even under unknown interaction forces.

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“…In addition, the controlled system with NFTSMC can be guaranteed to attain exponential stability and finite-time convergence. Although NFTSMC provided by Yu and Yu (2005) and Feng et al (2013) can avoid singularity and has exponential convergence stability, the exponential function term of the error rate is included in the designed sliding-mode manifold, which brings inconvenience and increases computational complexity to the controller design (Huang et al, 2020). In this paper, we proposed a kind of equivalent NFTSMC in our control scheme to alleviate this problem to a certain extent.…”

Section: Related Workmentioning

confidence: 99%

Robust and compliance control for robotic knee prosthesis using admittance model and sliding-mode controller

Huang

Qian

et al. 2022

Transactions of the Institute of Measurement and Control

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Achieving compliance and flexibility under the premise of ensuring trajectory tracking performance and also reflecting the wearer’s movement intention, has not yet been well solved in the field of prosthesis. The aim of this paper is to provide a compliant, robust, and continuous control scheme for robotic knee prosthesis to solve the contradictory problems of trajectory tracking performance and compliance. The proposed scheme are based on the admittance model and radial basis function (RBF) neural network–enhanced nonsingular fast terminal sliding-mode controller (NFTSMC). The desired trajectory of the prosthetic knee joint is driven by humans and reshaped to reference trajectory by an admittance model, so that the prosthetic leg can reflect the human’s movement intention and being compliant. RBF neural network is introduced to achieve adaptive approximation of unknown models and ensure that the controller does not depend on the mathematical model of the “human-in-the-loop” prosthesis system. A novel NFTSMC was proposed to deal with the influence of ground reaction forces (GRFs) and fitting errors of the RBF neural network, which make the tracking error converge to zero in a finite time. The adaptive law of the RBF neural network is obtained by the Lyapunov method, and the stability and finite-time convergence of the closed-loop system are rigorously proved and analyzed mathematically. The simulation results prove the feasibility and effectiveness of the propose control scheme.

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A Robust Adaptive Admittance Control Scheme for Robotic Knee Prosthesis Using Human-Inspired Virtual Constraints

Cited by 9 publications

References 52 publications

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

Research on human-robot collaboration method for parallel robots oriented to segment docking

Robust and compliance control for robotic knee prosthesis using admittance model and sliding-mode controller

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