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Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation

Zhan Li, Wenkun Zuo, Shuai Li Orcid Logo

Measurement, Volume: 163, Start page: 107964

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1016/j.measurement.2020.107964

Abstract

Accurate motion control of industrial upper-limb exoskeleton can provide efficient assistance for subjects to perform various industrial manipulation tasks. In most motion control scenarios of upper-limb exoskeletons, the variations of potential energy frequently reach to a high level of oscillation...

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Published in: Measurement
ISSN: 0263-2241
Published: Elsevier BV 2020
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URI: https://cronfa.swan.ac.uk/Record/cronfa54389
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first_indexed 2020-06-05T13:11:04Z
last_indexed 2020-07-27T19:17:09Z
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spelling 2020-07-27T18:25:30.8784454 v2 54389 2020-06-05 Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2020-06-05 MECH Accurate motion control of industrial upper-limb exoskeleton can provide efficient assistance for subjects to perform various industrial manipulation tasks. In most motion control scenarios of upper-limb exoskeletons, the variations of potential energy frequently reach to a high level of oscillations, leading to the reconstructed motion uncomfortable or dangerous. In this paper, in order to achieve minimal potential energy variation and accurate motion control of the upper-limb exoskeleton, we propose a novel motion planning strategy with minimal potential energy modulation. Such motion resolution scheme is formulated as an optimization problem and solved by the zeroing dynamics (ZD) to achieve elegant global convergence. Simulation and experiment results show that the potential energy variation range of the upper-limb exoskeleton can be significantly decreased by average 99.34 in both X-Y and X-Z planes, in addition to finishing tracking the desired motion path accurately. All of these demonstrate that the efficiency and superiority of the proposed method for potential energy minimization during achieving accurate motion planning and control. Journal Article Measurement 163 107964 Elsevier BV 0263-2241 Exoskeleton, Upper limb, Kinematic control, Zeroing neural network, Potential energy 15 10 2020 2020-10-15 10.1016/j.measurement.2020.107964 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2020-07-27T18:25:30.8784454 2020-06-05T09:41:41.2367893 Zhan Li 1 Wenkun Zuo 2 Shuai Li 0000-0001-8316-5289 3 54389__17799__86b609b588064196b725e65c47f39c43.pdf 54389.pdf 2020-07-27T18:18:44.7628071 Output 471972 application/pdf Accepted Manuscript true 2021-05-21T00:00:00.0000000 Released under the terms of a Creative Commons Attribution Non-Commercial No Derivatives License (CC-BY-NC-ND). true eng
title Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
spellingShingle Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
Shuai Li
title_short Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
title_full Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
title_fullStr Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
title_full_unstemmed Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
title_sort Zeroing dynamics method for motion control of industrial upper-limb exoskeleton system with minimal potential energy modulation
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Zhan Li
Wenkun Zuo
Shuai Li
format Journal article
container_title Measurement
container_volume 163
container_start_page 107964
publishDate 2020
institution Swansea University
issn 0263-2241
doi_str_mv 10.1016/j.measurement.2020.107964
publisher Elsevier BV
document_store_str 1
active_str 0
description Accurate motion control of industrial upper-limb exoskeleton can provide efficient assistance for subjects to perform various industrial manipulation tasks. In most motion control scenarios of upper-limb exoskeletons, the variations of potential energy frequently reach to a high level of oscillations, leading to the reconstructed motion uncomfortable or dangerous. In this paper, in order to achieve minimal potential energy variation and accurate motion control of the upper-limb exoskeleton, we propose a novel motion planning strategy with minimal potential energy modulation. Such motion resolution scheme is formulated as an optimization problem and solved by the zeroing dynamics (ZD) to achieve elegant global convergence. Simulation and experiment results show that the potential energy variation range of the upper-limb exoskeleton can be significantly decreased by average 99.34 in both X-Y and X-Z planes, in addition to finishing tracking the desired motion path accurately. All of these demonstrate that the efficiency and superiority of the proposed method for potential energy minimization during achieving accurate motion planning and control.
published_date 2020-10-15T04:07:54Z
_version_ 1763753563673067520
score 11.036706

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