CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
2016-07-01
Volume46Issue:7Pages:980-992
SubtypeArticle
AbstractIn 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.
KeywordFriction Model Lower Limb Rehabilitation Robot (Llrr) Motion Intention Recognition Optimization Of Exciting Trajectories Recursive Optimization
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TSMC.2016.2531653
WOS KeywordBASE INERTIAL PARAMETERS ; ROBOTS ; FRICTION ; COMPENSATION ; TRAJECTORIES ; MANIPULATORS ; EXOSKELETON ; LIMB
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61225017 ; Strategic Priority Research Program of the Chinese Academy of Sciences (CAS)(XDB02080004) ; CAS ; 61533016 ; 61421004 ; 61422310)
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000379757300011
Citation statistics
Cited Times:11[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12155
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
47-Toward Patients' (1512KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang, Weiqun]'s Articles
[Hou, Zeng-Guang]'s Articles
[Cheng, Long]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang, Weiqun]'s Articles
[Hou, Zeng-Guang]'s Articles
[Cheng, Long]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang, Weiqun]'s Articles
[Hou, Zeng-Guang]'s Articles
[Cheng, Long]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 47-Toward Patients' Motion Intention Recognition Dynamics Modeling and Identification of iLeg-An LLRR Under Motion Constraints.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.