Feedback force and velocity control of an arm exoskeleton to assist user motion

Abstract

The paper proposes a feedback force and velocity control of an arm exoskeleton to assist user motion. The original published control so-called feedback hybrid force and position control was based on the force and position control and was designed to assist user motion. This original control was successful at providing assist for the user’s arm. This article presents an improved control scheme called the feedback force and velocity control. The proposed control is designed to regulate the velocities of joints of the exoskeleton and the feedback forces on links to assist user motion. The design and optimization of the feedback force and velocity control are realized by the Balancing Composite Motion Optimization (BCMO). The numerical method is realized in the paper to show that the proposed control is better than the original control in terms of less oscillation and fast response.