Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification

Lee, Hee-Don; Lee, Byeong–Kyu; Kim, Wansoo; Han, Jung‐Soo; Shin, Kyung-Hoon; Han, Chang-Soo

doi:10.1016/j.mechatronics.2014.01.007

Cited by 113 publications

(80 citation statements)

References 9 publications

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“…The third part in equation (20) will lead to the large error accumulation, and may deteriorate the system performance, such as wind-up. Obviously, arctan function a tanðxÞ is a non-linear saturation function and a To avoid wind-up, the integral part of equation (20) is replaced by equation (21). The improved sliding surface is written as…”

Section: Controller Designmentioning

confidence: 99%

“…20 Considering the complexity and application of the human-machine model, Lee also proposed a Proportional-Integral (PI) model to infer the wearer's movement intention. 19,21 Kwon utilized artificial neural network (NN) to approximate the non-linear relation between surface EMG and upper-limb motions. 13 The control system is very complicated which needs to get the signals from five upperlimb muscles and angular velocities of the limb joints.…”

Section: Introductionmentioning

confidence: 99%

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Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Zhu

Jin

Yao

et al. 2016

International Journal of Advanced Robotic Systems

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This article presents a human-robot cooperation controller towards the lower extremity exoskeleton which aims to improve the tracking performance of the exoskeleton and reduce the human-robot interaction force. Radial basis function neural network is introduced to model the human-machine interaction which can better approximate the non-linear relationship than the general impedance model. A new method to calculate the inverse Jacobian matrix is presented. Compared to traditional damped least squares method, the novel method is proved to be able to avoid the orientation change of the velocity of the human-robot interaction point by the simulation result. This feature is very important in human-robot system. Then, an improved non-linear robust sliding mode controller is designed to promote the tracking performance considering system uncertainties and model errors, where a new non-linear integral sliding surface is given. The stability analysis of the proposed controller is performed using Lyapunov stability theory. Finally, the novel methods are applied to the swing leg control of the lower extremity exoskeleton, its effectiveness is validated by simulation and comparative experiments.

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Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Zhu

Jin

Yao

et al. 2016

International Journal of Advanced Robotic Systems

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“…The power-assisted upper-limb exoskeleton acts as a power amplifier to assist the user in performing tasks that are impossible or difficult to accomplish on human power alone, which is mainly used in rehabilitation and material handling and other fields. In industrial applications, the movement of the upper-limb exoskeleton used for material handling is in front of the body, and the weight of load is heavy [1]. Therefore, it requires a light structure and stronger power than those of the rehabilitation exoskeletons.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

et al. 2018

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Featured Application: The proposed non-anthropomorphic 3-DOF upper-limb exoskeleton is appropriate for the purpose of material hanging in an industrial setting, especially for handling heavy loads by the front side of the human body. Abstract:The contradiction between self-weight and load capacity of a power-assisted upper-limb exoskeleton for material hanging is unresolved. In this paper, a non-anthropomorphic 3-degree of freedom (DOF) upper-limb exoskeleton with an internally rotated elbow joint is proposed based on an anthropomorphic 5-DOF upper-limb exoskeleton for power-assisted activity. The proposed 3-DOF upper-limb exoskeleton contains a 2-DOF shoulder joint and a 1-DOF internally rotated elbow joint. The structural parameters of the 3-DOF upper-limb exoskeleton were determined, and the differences and singularities of the two exoskeletons were analyzed. The workspace, the joint torques and the power consumption of two exoskeletons were analyzed by kinematics and dynamics, and an exoskeleton prototype experiment was performed. The results showed that, compared with a typical anthropomorphic upper-limb exoskeleton, the non-anthropomorphic 3-DOF upper-limb exoskeleton had the same actual workspace; eliminated singularities within the workspace; improved the elbow joint force situation; and the maximum elbow joint torque, elbow external-flexion/internal-extension and shoulder flexion/extension power consumption were significantly reduced. The proposed non-anthropomorphic 3-DOF upper-limb exoskeleton can be applied to a power-assisted upper-limb exoskeleton in industrial settings.

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“…Ying Mao et al design a wearable upper-limb exoskeleton robot driven by pulleys and cables so as to lower the joint moments [5]. Hee-Don Lee et al presented an improved algorithm to eliminate the singularity under some specific postures of the exoskeleton arm [6]. Usually, the improper kinematic model and mechanical configuration of the exoskeleton arm will create the following problems: a) simplified kinematic model reduces the workspace of the exoskeleton arm and limits the applicable field; b) the improper configuration increases the design difficulty and complexity of mechanism; c) unpredicted forces or interference between exoskeleton parts or between the parts and the wearer may be produced [7]; d) the difficulty of the active control algorithm is improved.…”

Section: Introductionmentioning

confidence: 99%

Configuration optimization and kinematic analysis of a wearable exoskeleton arm

Xiao

Zhu

Wang

et al. 2017

2017 International Conference on Robotics and Automation Sciences (ICRAS)

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Abstract-In order to evaluate the kinematic performance and determine the proper design parameters, the kinematic characteristics of human upper-limb are modelled and analyzed in this paper. Based on the model, different mechanical configurations of wearable upper-limb exoskeleton robots are proposed and the singularity orientation in the upper limb workspace is analyzed. The optimal configuration of the shoulder mechanism without limiting the spherical-joint motion is determined to avoid the singularity in the control procedure. According to the configuration, the workspaces of the upper limb and the exoskeleton robots are simulated by the matlab software. And the results prove that the optimized configuration works well in the most frequently used workspace of human upper-limb. The optimizing method of singularity elimination is helpful for the configuration design and active control of upper limb exoskeleton system.

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Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification

Cited by 113 publications

References 9 publications

Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

Configuration optimization and kinematic analysis of a wearable exoskeleton arm

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