Modified admittance control for maneuverable human-powered augmentation lower exoskeleton systems
| Autor: | Abusabah I. A. Ahmed, Abubakr R. Abdalla, Guo Hongliang, Hong Cheng |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Admittance Computer science Dynamics (mechanics) 020207 software engineering 02 engineering and technology Scatterplot smoothing Motion control Field (computer science) Exoskeleton 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Trajectory |
| Zdroj: | ICARM |
| DOI: | 10.1109/icarm.2017.8273126 |
| Popis: | On-line motion control in coupled human-exoskeleton system is still rich research field and represents a step towards fully autonomous, safe and intelligent navigation. Admittance Controller (AC) can successfully handle the changing dynamic during flat terrain walking in coupled human-exoskeleton systems. Trajectory correction technique transforms the interaction force exerted on the exoskeleton to appropriate intended joint flexion angles through dynamic visco-elastic model. Further, Modified AC (MAC) is developed to handle stairs transition case by applying LOcally WEighted Scatterplot Smoothing (LOWESS). We proposed Admittance Controller (AC) for on-line motion control. We demonstrate our proposed control strategy on one degree-of-freedom (1-DOF) platform first, to prove it is efficiency then can be extend to the Human power Augmentation Lower Exoskeleton (HUALEX). The experimental results show that the proposed motion control strategy can minimize the interaction dynamics with less interaction force between the pilot and the exoskeleton. |
| Databáze: | OpenAIRE |
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