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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 |
ISSN | 1674-7321 |
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 |
DOI | 10.1007/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 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/42600 |
专题 | 复杂系统认知与决策实验室_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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