Toward Patients' Motion Intention Recognition: Dynamics Modeling and Identification of iLeg-An LLRR Under Motion Constraints
Wang, Weiqun; Hou, Zeng-Guang; Cheng, Long; Tong, Lina; Peng, Liang; Peng, Long; Tan, Min
2016-07-01
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷号46期号:7页码:980-992
文章类型Article
摘要In order to implement model-based recognition of human motion intention, dynamics modeling and identification of a lower limb rehabilitation robot named iLeg is investigated. Due to the relatively strong motion constraints, the traditional identification methods become insufficient for iLeg in three aspects: 1) the coupling factors among joints have not been considered in the traditional joint friction models, which makes the structural error and the torque estimation errors relatively large; 2) because of the small and complicated feasible region caused by the motion constraints, the traditional initialization strategy, for searching the valid initial solutions of the optimization problem for the exciting trajectories, becomes very inefficient; and 3) the condition number of the observation matrix, calculated from the preliminary dynamic model and the associated optimized exciting trajectory, is too large for the identification, and, however, further reduction of the condition number has not been considered in the literature. Therefore, corresponding contributions are presented to overcome the limitation. First, the coupling factors among joints are considered in the joint friction model by using the Palmgren empirical formulation and a polynomial fitting method. Then, an indirectly generating strategy is designed, by which the valid initial solutions of the optimization problem can be found with good efficiency. Moreover, a recursive optimization method based on the optimization of the dynamic model and the exciting trajectories, is proposed to further reduce the condition number. Finally, the performance of the proposed methods is demonstrated by several experiments.
关键词Friction Model Lower Limb Rehabilitation Robot (Llrr) Motion Intention Recognition Optimization Of Exciting Trajectories Recursive Optimization
WOS标题词Science & Technology ; Technology
DOI10.1109/TSMC.2016.2531653
关键词[WOS]BASE INERTIAL PARAMETERS ; ROBOTS ; FRICTION ; COMPENSATION ; TRAJECTORIES ; MANIPULATORS ; EXOSKELETON ; LIMB
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61225017 ; Strategic Priority Research Program of the Chinese Academy of Sciences (CAS)(XDB02080004) ; CAS ; 61533016 ; 61421004 ; 61422310)
WOS研究方向Automation & Control Systems ; Computer Science
WOS类目Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号WOS:000379757300011
引用统计
被引频次:11[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12155
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
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GB/T 7714
Wang, Weiqun,Hou, Zeng-Guang,Cheng, Long,et al. Toward Patients' Motion Intention Recognition: Dynamics Modeling and Identification of iLeg-An LLRR Under Motion Constraints[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2016,46(7):980-992.
APA Wang, Weiqun.,Hou, Zeng-Guang.,Cheng, Long.,Tong, Lina.,Peng, Liang.,...&Tan, Min.(2016).Toward Patients' Motion Intention Recognition: Dynamics Modeling and Identification of iLeg-An LLRR Under Motion Constraints.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,46(7),980-992.
MLA Wang, Weiqun,et al."Toward Patients' Motion Intention Recognition: Dynamics Modeling and Identification of iLeg-An LLRR Under Motion Constraints".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 46.7(2016):980-992.
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