Design and Test of Admittance Control with Inner Adaptive Robust Position Control for a Lower Limb Rehabilitation Robot

Shen, Zhihang; Zhuang, Yu; Zhou, Jie; Gao, Jinwu; Song, Rong

doi:10.1007/s12555-018-0477-z

Cited by 32 publications

(16 citation statements)

References 22 publications

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“…Therefore, we proposed three control strategies for the proposed WR The first proposed strategy is a gravity compensated controller to perform trajectory tracking. The second control strategy corresponds to an admittance control, where a user’s force is converted into a position [ 32 ] (pHRI). Finally, the third proposed control strategy corresponds to a variation of the proposed admittance control, where sEMG signals are converted into a position (cHRI).…”

Section: Methodsmentioning

confidence: 99%

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Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

et al. 2022

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This paper presents an upper limb exoskeleton that allows cognitive (through electromyography signals) and physical user interaction (through load cells sensors) for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people who suffer from a neurological injury. For the exoskeleton to be easily accepted by patients who suffer from a neurological injury, we used the ISO9241-210:2010 as a methodology design process. As the first steps of the design process, design requirements were collected from previous usability tests and literature. Then, as a second step, a technological solution is proposed, and as a third step, the system was evaluated through performance and user testing. As part of the technological solution and to allow patient participation during the rehabilitation process, we have proposed a hybrid admittance control whose input is load cell or electromyography signals. The hybrid admittance control is intended for active therapy exercises, is easily implemented, and does not need musculoskeletal modeling to work. Furthermore, electromyography signals classification models and features were evaluated to identify the best settings for the cognitive human–robot interaction.

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Section: Methodsmentioning

confidence: 99%

“…An admittance control is a dynamic force-to-motion mapping [ 32 ]. For the implementation of the assistance control law of the proposed exoskeleton, we decided to implement an admittance control where parameters such as stiffness and damping can be changed in the position subspace.…”

Section: Methodsmentioning

confidence: 99%

Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

et al. 2022

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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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“…When interacting with a human, the human acts as an impedance object that outputs force. Reversely, this can be used for adjustable stiffness control for an object, called an admittance control [26,27]. Therefore, we used the admittance control algorithm, The inverse kinematics of the CDPR used in this study compute the cable length in the joint space from the given end-effector posture in the Cartesian space.…”

Section: Admittance Controlmentioning

confidence: 99%

“…When interacting with a human, the human acts as an impedance object that outputs force. Reversely, this can be used for adjustable stiffness control for an object, called an admittance control [26,27]. Therefore, we used the admittance control algorithm, which can estimate position set points through a spring-mass-damper (SMD) system model using the external force applied to an object.…”

Section: Admittance Controlmentioning

confidence: 99%

A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot

et al. 2021

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This paper presents a compact-sized haptic device based on a cable-driven parallel robot (CDPR) mechanism for teleoperation. CDPRs characteristically have large workspaces and lightweight actuators. An intuitive and user-friendly remote control has not yet been achieved, owing to the unfamiliar multiple-cable configuration of CDPRs. To address this, we constructed a portable compact-sized CDPR with the same configuration as that of a larger fully constrained slave CDPR. The haptic device is controlled by an admittance control for stiffness adjustment and implemented in an embedded microprocessor-based controller for easy installation on an operator’s desk. To validate the performance of the device, we constructed an experimental teleoperation setup by using the prototyped portable CDPR as a master and larger-size CDPR as a slave robot. Experimental results showed that a human operator can successfully control the master device from a remote site and synchronized motion between the master and slave device was performed. Moreover, the user-friendly teleoperation could intuitively address situations at a remote site and provide an operator with realistic force during the motion of the slave CDPR.

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Design and Test of Admittance Control with Inner Adaptive Robust Position Control for a Lower Limb Rehabilitation Robot

Cited by 32 publications

References 22 publications

Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

A Compliant Force Control Scheme for Industrial Robot Interactive Operation

A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot

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