Model-based Control with Interaction Predicting for Human-coupled Lower Exoskeleton Systems
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Model-based Control with Interaction Predicting for Human-coupled Lower Exoskeleton Systems Guangkui Song1 · Rui Huang1 · Jing Qiu1 · Hong Cheng1 · Shuai Fan2 Received: 3 July 2019 / Accepted: 6 April 2020 © Springer Nature B.V. 2020
Abstract Sensitivity Amplification Control (SAC) algorithm was first proposed in the augmentation application of the Berkeley Lower Extremity Exoskeleton (BLEEX). Since the SAC algorithm can greatly reduce the complexity of exoskeleton system, it is widely used in human augmentation applications. Nevertheless, the performance of the SAC algorithm depends on the accuracy of dynamic model parameters. In this paper, we propose a novel Model-based control with Interaction Predicting (MIP) strategy to lower dependency on the accurate dynamic model of the exoskeleton. The MIP consists of an interaction predictor and a model-based controller. The interaction predictor can predict motion trajectories of the pilot and substitute for the pilot to drive the exoskeleton through an impedance model. In proposed strategy, the model-based controller not only amplify the forces initiated by the interaction predictor, but more importantly the forces imposed by the pilot to correct the errors between the predictive motion trajectory and the intended motion trajectory of the pilot. Illustrative simulations and experimental results are presented to demonstrate the efficiency of the proposed strategy. Additionally, the comparisons with traditional model-based control algorithm are also presented to demonstrate the efficiency and superiority of the proposed control strategy for lowering dependency on dynamic models. Keywords Model-based control with interaction predicting · Sensitivity amplification control · Inaccurate dynamic model · Physical human-robot interaction · Strength augmentation · Lower exoskeleton
1 Introduction Lower extremity exoskeletons are wearable robotic systems, they can effectively augment the performance of pilots by wearing it on the body. They integrate human intelligence and robot power, effectively avoiding the shortcoming of both. Thanks to the development of wearable technologies, lower extremity exoskeletons have been developed into nearly commercialized products and applied in real-world scenarios [7, 13, 15, 21, 24] over the last few decades. As lower extremity exoskeleton is tightly coupled with human
Guangkui Song
[email protected] 1
Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China, Chengdu, China
2
School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China
beings, it requires an ability that it can follow the pilot’s motion with minimal resistance (i.e. little interaction forces between the exoskeleton and the pilot). For human-robot interaction related applications, the sense-act-modulatedbyinteractions (SAMI) architecture [1] is proposed and a development methodology [19] on human-robot interaction is proposed to support the robot sta
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