DocumentCode :
3720222
Title :
Design and performance analysis of a transparent force control strategy for an exoskeleton
Author :
Amirreza Rashidi;Ahmad Zibafar;Reza Khezrian;Gholamreza Vossoughi
Author_Institution :
Center of Excellence in Design, Robotics and Automation (CEDRA), Biomechatronics Lab. Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
fYear :
2015
Firstpage :
563
Lastpage :
568
Abstract :
Exoskeleton robots are developed for human rehabilitation and power augmentation. Human and robot interaction is an important issue involved with these robots. In this paper, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during swing phase of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be employed in the control loop. An adaptation procedure has been proposed for the bound estimation of uncertainties. As part of assumptions, the interaction between the robot and human is modeled by a spring-damper set which is reasonably accurate for swing phase. The prototyped exoskeleton parameters have been used for more accurate robot modeling. Finally, the simulation results are presented, indicating good performance of the proposed robot control strategy for a transparent human tracking.
Keywords :
"Robot kinematics","Force control","Exoskeletons","Mathematical model","Force","Legged locomotion"
Publisher :
ieee
Conference_Titel :
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
Type :
conf
DOI :
10.1109/ICRoM.2015.7367845
Filename :
7367845
Link To Document :
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