Iterative assist-as-needed control with interaction factor for rehabilitation robots

doi:10.1007/s11431-020-1671-6

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Iterative assist-as-needed control with interaction factor for rehabilitation robots
	Cao, Ran 1,2; Cheng, Long 1,2; Yang, ChenGuang 4; Dong, Zhe 3
刊名	SCIENCE CHINA-TECHNOLOGICAL SCIENCES
	2021-01-18
页码	11
关键词	human-robot interaction impedance stiffness control rehabilitation
ISSN号	1674-7321
DOI	10.1007/s11431-020-1671-6
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
英文摘要	Rehabilitation robots for stroke patients have drawn considerable attention because they can reduce the economic and labor costs brought by traditional rehabilitation. Control methods for rehabilitation robots have been developed to stimulate the active motion of patients and to improve the effectiveness of rehabilitation care. However, current control methods can only roughly adjust the system's stiffness and may fail in achieving satisfactory performance. To this end, this paper introduces a novel cost function consisting of the tracking error term and the stiffness term. The cost function contains an interaction factor that represents the patient's motion intention to balance the weight of these two terms. When the patients try to actively do training tasks, the weight of stiffness term increases, which leads to the larger allowable tracking error and lower stiffness eventually. An iterative updating law of the stiffness matrix is given to reduce the proposed cost function. Theoretical analysis based on the Lyapunov theory is given to ensure the feasibility of the proposed algorithm. Furthermore, a force estimation is used to improve interaction control performance. Finally, simulation experiments are provided to show the effectiveness of the proposed algorithm.
WOS研究方向	Engineering ; Materials Science
语种	英语
出版者	SCIENCE PRESS
WOS记录号	WOS:000609362100001
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42599]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cheng, Long
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.North China Univ Technol, Sch Elect & Control Engn, Beijing 100144, Peoples R China 4.South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China
推荐引用方式 GB/T 7714	Cao, Ran,Cheng, Long,Yang, ChenGuang,et al. Iterative assist-as-needed control with interaction factor for rehabilitation robots[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2021:11.
APA	Cao, Ran,Cheng, Long,Yang, ChenGuang,&Dong, Zhe.(2021).Iterative assist-as-needed control with interaction factor for rehabilitation robots.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,11.
MLA	Cao, Ran,et al."Iterative assist-as-needed control with interaction factor for rehabilitation robots".SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2021):11.