Enhancing Human Mobility Exoskeleton Comfort Using Admittance Controller

Rabaseda, Alexandre; Seguin, Emelie; Doumit, Marc

doi:10.37394/23208.2021.18.3

Cited by 2 publications

(1 citation statement)

References 41 publications

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“…Impedance control provides safe and stable robotenvironment interaction. The two main types of interaction controls that are widely used in robotics are impedance control, in which the input is either position or velocity and the output is force/torque, and admittance control, which is the opposite of impedance control [10]. During physical therapy with doctors, the physiotherapist controls the motion and regulates the interaction joint torque for safe movement with the patient's arms [11].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.

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Section: Introductionmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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Inertia Sensor Detecting Materials using Electromagnetic Signals

Vasilaki

Rigakis

Papadoulis

et al. 2022

Wseas Transactions on Systems

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There are many commercial sensors that use inertia systems and others that use electromagnetic systems. Until now, none of the existing sensors combines a circular inertia movement with the simultaneous transmission of electromagnetic radiation in the band of very low (VLF) and ultra low (ULF) frequencies. The aim of this paper is to show the design of such a sensor, that contains an electromagnetic signal generator and to observe and monitor its movement on a free rotating inclined platform. An accurate positioning and monitoring system is used in order to measure the velocity and acceleration at every position on its movement. It is a novel system that is already in use in material identification and localization. It is indubitably working and exports excellent results, although we are not still familiar with the laws of physics that determine the specific phenomenon. Until this point the sensor is used to identify only a limited number of materials. In the future it would be ideal to use it for more materials, find their frequencies and create a library that contains many materials and different kind of substances.

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Enhancing Human Mobility Exoskeleton Comfort Using Admittance Controller

Cited by 2 publications

References 41 publications

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Inertia Sensor Detecting Materials using Electromagnetic Signals

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