Human Cooperative Control of Lower-limb Robotic Exoskeleton Based on Region Function

A human-cooperative control algorithm based on human region had been proposed in this paper, which enable the subjects change the movements of the lower-limb exoskeleton robots. At first, the kinematic and dynamics of the lower-limb exoskeleton robots is proposed, then we divide the task space into two portion, i.e., a human region, in which human can change the movement of the robots, a robot region, in which the robot drive take the lead. The designed control incorporating adaptive learning technique makes tracking errors convergent while the different region can be switched. By using Lyapunov analysis, we proved the closed-loop system is stable. The experimental results are presented to demonstrate the proposed controller have a good tracking performance.

[1]  Karim Djouani,et al.  Toward Lower Limbs Functional Rehabilitation Through a Knee-Joint Exoskeleton , 2017, IEEE Transactions on Control Systems Technology.

[2]  Yong Yang,et al.  Development and Repetitive Learning Control of Lower Limb Exoskeleton Driven by Electrohydraulic Actuators , 2017, IEEE Transactions on Industrial Electronics.

[3]  Shiqian Wang,et al.  Design and Control of the MINDWALKER Exoskeleton , 2015, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[4]  Xiang Li,et al.  Human-Guided Robotic Comanipulation: Two Illustrative Scenarios , 2016, IEEE Transactions on Control Systems Technology.

[5]  Y. Sankai,et al.  Power assist method based on phase sequence driven by interaction between human and robot suit , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[6]  J. Hidler,et al.  Alterations in muscle activation patterns during robotic-assisted walking. , 2005, Clinical biomechanics.

[7]  Umit Onen,et al.  Design and Actuator Selection of a Lower Extremity Exoskeleton , 2014, IEEE/ASME Transactions on Mechatronics.

[8]  Chien Chern Cheah,et al.  Region-Reaching Control of Robots , 2007, IEEE Transactions on Robotics.

[9]  Yoshiyuki Sankai,et al.  Power Assist System HAL-3 for Gait Disorder Person , 2002, ICCHP.

[10]  Shuzhi Sam Ge,et al.  Fundamentals in Modeling and Control of Mobile Manipulators , 2013 .

[11]  Lihua Huang,et al.  Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2006, Int. J. Robotics Res..

[12]  Michael Goldfarb,et al.  An Approach for the Cooperative Control of FES With a Powered Exoskeleton During Level Walking for Persons With Paraplegia , 2016, IEEE Transactions on Neural Systems and Rehabilitation Engineering.