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Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control

Zhijun Li, Bo Huang, Zhifeng Ye, Mingdi Deng, Chenguang Yang

IEEE Transactions on Industrial Electronics, Pages: 1 - 1

Swansea University Author: Chenguang Yang

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DOI (Published version): 10.1109/TIE.2018.2821649

Abstract

In this paper, physical human-robot interaction (pHRI) approach is presented for the developed robotic exoskeleton using admittance control to deal with human subject's intention as well as the unknown inertia masses and moments in the robotic dynamics. Human subject's intention is represe...

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Published in: IEEE Transactions on Industrial Electronics
ISSN: 0278-0046 1557-9948
Published: 2018
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URI: https://cronfa.swan.ac.uk/Record/cronfa39381
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first_indexed 2018-04-12T15:01:48Z
last_indexed 2018-05-22T19:00:52Z
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spelling 2018-05-22T14:51:39.9416147 v2 39381 2018-04-12 Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2018-04-12 EEN In this paper, physical human-robot interaction (pHRI) approach is presented for the developed robotic exoskeleton using admittance control to deal with human subject's intention as well as the unknown inertia masses and moments in the robotic dynamics. Human subject's intention is represented by the reference trajectory when the robotic exoskeleton is complying with the external interaction force. Online estimation of the stiffness is employed to deal with the variable impedance property of the robotic exoskeleton. Admittance control is firstly presented based on the measured force in order to generate a reference trajectory in interaction tasks. Then adaptive control is proposed to deal with the uncertain robotic dynamics and a stability criterion can be obtained. Bounded errors are shown in the motion tracking while the robustness of the variable stiffness control is guaranteed. The experimental results indicate that the proposed control enables the human subjects to execute an admittance control task on the exoskeleton robot effectively. Journal Article IEEE Transactions on Industrial Electronics 1 1 0278-0046 1557-9948 31 12 2018 2018-12-31 10.1109/TIE.2018.2821649 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2018-05-22T14:51:39.9416147 2018-04-12T15:38:34.0686122 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Zhijun Li 1 Bo Huang 2 Zhifeng Ye 3 Mingdi Deng 4 Chenguang Yang 5 0039381-12042018160251.pdf admittance2.pdf 2018-04-12T16:02:51.7570000 Output 404046 application/pdf Accepted Manuscript true 2018-05-12T00:00:00.0000000 true eng
title Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
spellingShingle Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
Chenguang Yang
title_short Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
title_full Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
title_fullStr Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
title_full_unstemmed Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
title_sort Physical Human-Robot Interaction of a Robotic Exoskeleton By Admittance Control
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 Zhijun Li
Bo Huang
Zhifeng Ye
Mingdi Deng
Chenguang Yang
format Journal article
container_title IEEE Transactions on Industrial Electronics
container_start_page 1
publishDate 2018
institution Swansea University
issn 0278-0046
1557-9948
doi_str_mv 10.1109/TIE.2018.2821649
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description In this paper, physical human-robot interaction (pHRI) approach is presented for the developed robotic exoskeleton using admittance control to deal with human subject's intention as well as the unknown inertia masses and moments in the robotic dynamics. Human subject's intention is represented by the reference trajectory when the robotic exoskeleton is complying with the external interaction force. Online estimation of the stiffness is employed to deal with the variable impedance property of the robotic exoskeleton. Admittance control is firstly presented based on the measured force in order to generate a reference trajectory in interaction tasks. Then adaptive control is proposed to deal with the uncertain robotic dynamics and a stability criterion can be obtained. Bounded errors are shown in the motion tracking while the robustness of the variable stiffness control is guaranteed. The experimental results indicate that the proposed control enables the human subjects to execute an admittance control task on the exoskeleton robot effectively.
published_date 2018-12-31T03:50:00Z
_version_ 1763752438198697984
score 11.012678

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