Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot

doi:10.1109/TMECH.2024.3394491

	Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot
	Liang, Xu1 ; Yan, Yuchen 2; Wang, Weiqun3 ; Su, Tingting4 ; He, Guangping 2; Li, Guotao3 ; Hou, Zeng-Guang5,6,7
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2024-06-14
页码	12
通讯作者	Wang, Weiqun(weiqun.wang@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
摘要	Accurate acquisition of interactive information is crucial for the effective execution of rehabilitation training. However, due to model and sensor errors, it is difficult to obtain interactive information accurately and quickly. To overcome these challenges, a novel accurate and fast estimation method for the human-robot interaction torques (HRITs) is proposed in this article. First, the HRIT model with order adaptive adjustment ability (HMOAA) is constructed. The polynomial order of HMOAA can be adaptively adjusted based on the partial state estimation, which is more consistent with the dynamic time-varying characteristics of HRIT. Second, the Sage-Husa adaptive strong tracking Kalman filter (SHASTKF) is designed based on the modified Sage-Husa adaptive Kalman filter (SHAKF) and strong tracking Kalman filter (STKF). The SHASTKF can quickly track the abrupt HRIT changes when the subject suddenly exerts active torques in rehabilitation training. Moreover, it also has the ability to recursively estimate the noise characteristics, and can stably complete the HRIT estimation task when the noise characteristics are unknown. Finally, simulations and experiments are conducted to validate the proposed method, and the comparison results demonstrate that the proposed method has good torque estimation precision and fast tracking ability of abrupt changes in HRITs.
关键词	Adaptive learning human-robot interaction rehabilitation robot torque estimation
DOI	10.1109/TMECH.2024.3394491
关键词[WOS]	SYSTEMS
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China
项目资助者	National Key R&D Program of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:001248180700001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58759
专题	多模态人工智能系统全国重点实验室_医疗机器人
通讯作者	Wang, Weiqun; Hou, Zeng-Guang
作者单位	1.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing 100044, Peoples R China 2.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 4.Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 6.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 7.Macau Univ Sci & Technol, Inst Syst Engn, CASIA MUST Joint Lab Intelligence Sci & Technol, Macau, Peoples R China
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	Liang, Xu,Yan, Yuchen,Wang, Weiqun,et al. Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2024:12.
APA	Liang, Xu.,Yan, Yuchen.,Wang, Weiqun.,Su, Tingting.,He, Guangping.,...&Hou, Zeng-Guang.(2024).Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA	Liang, Xu,et al."Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024):12.