Iterative assist-as-needed control with interaction factor for rehabilitation robots
Cao, Ran1,2; Cheng, Long1,2; Yang, ChenGuang3; Dong, Zhe4
发表期刊SCIENCE CHINA-TECHNOLOGICAL SCIENCES
ISSN1674-7321
2021-01-18
页码11
摘要

Rehabilitation robots for stroke patients have drawn considerable attention because they can reduce the economic and labor costs brought by traditional rehabilitation. Control methods for rehabilitation robots have been developed to stimulate the active motion of patients and to improve the effectiveness of rehabilitation care. However, current control methods can only roughly adjust the system's stiffness and may fail in achieving satisfactory performance. To this end, this paper introduces a novel cost function consisting of the tracking error term and the stiffness term. The cost function contains an interaction factor that represents the patient's motion intention to balance the weight of these two terms. When the patients try to actively do training tasks, the weight of stiffness term increases, which leads to the larger allowable tracking error and lower stiffness eventually. An iterative updating law of the stiffness matrix is given to reduce the proposed cost function. Theoretical analysis based on the Lyapunov theory is given to ensure the feasibility of the proposed algorithm. Furthermore, a force estimation is used to improve interaction control performance. Finally, simulation experiments are provided to show the effectiveness of the proposed algorithm.

关键词human-robot interaction impedance stiffness control rehabilitation
DOI10.1007/s11431-020-1671-6
收录类别SCI
语种英语
WOS研究方向Engineering ; Materials Science
WOS类目Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS记录号WOS:000609362100001
出版者SCIENCE PRESS
七大方向——子方向分类智能机器人
国重实验室规划方向分类人机混合智能
是否有论文关联数据集需要存交
引用统计
被引频次:8[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/173211/42600
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Cheng, Long
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China
4.North China Univ Technol, Sch Elect & Control Engn, Beijing 100144, Peoples R China
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Cao, Ran,Cheng, Long,Yang, ChenGuang,et al. Iterative assist-as-needed control with interaction factor for rehabilitation robots[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2021:11.
APA Cao, Ran,Cheng, Long,Yang, ChenGuang,&Dong, Zhe.(2021).Iterative assist-as-needed control with interaction factor for rehabilitation robots.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,11.
MLA Cao, Ran,et al."Iterative assist-as-needed control with interaction factor for rehabilitation robots".SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2021):11.
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