Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation
Autor: | Binghan He, Luis Sentis, Nicholas Paine, Gray C. Thomas |
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Rok vydání: | 2019 |
Předmět: |
030506 rehabilitation
0209 industrial biotechnology Computer science Systems and Control (eess.SY) 02 engineering and technology Electrical Engineering and Systems Science - Systems and Control Exoskeleton 03 medical and health sciences 020901 industrial engineering & automation Control theory FOS: Electrical engineering electronic engineering information engineering 0305 other medical science Actuator human activities Loop shaping |
Zdroj: | ACC |
DOI: | 10.23919/acc.2019.8814421 |
Popis: | In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification rate, and design a linear feedback compensator to attenuate this error. Since the human operator is an integral part of the system, we design the compensator to be robust to both a realistic variation in human impedance and a large variation in load impedance. We demonstrate our strategy on a one-degree of freedom amplification exoskeleton connected to a human arm, following a three dimensional matrix of experimentation: slow or fast human motion; light or extreme exoskeleton load; and soft or clenched human arm impedances. We demonstrate that a slightly aggressive controller results in a borderline stable system---but only for soft human musculoeskeletal behavior and a heavy load. This class of exoskeleton systems is interesting because it can both amplify a human's interaction forces --- so long as the human contacts the environment through the exoskeleton --- and attenuate the operator's perception of the exoskeleton's reflected dynamics at frequencies within the bandwidth of the control. 8 pages, 12 figures, 4 tables. Accepted for publication at the 2019 American Control Conference. Copyright IEEE 2019 |
Databáze: | OpenAIRE |
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