ICRA 2011 Paper Abstract

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Paper TuP208.5

Huo, Weiguang (Huazhong University of Science and Technology), Huang, Jian (Huazhong University of Science and Technology), wang, yongji (Huazhong University of Science and Technology)

Control of Upper-Limb Power-Assist Exoskeleton Based on Motion Intention Recognition

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics II" (TuP208), Tuesday, May 10, 2011, 16:25−16:40, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 21, 2019

Keywords Rehabilitation Robotics, Compliance and Impedance Control, Physical Human-Robot Interaction

Abstract

Recognizing the user motion intention plays an mportant role in the study of power-assist robots. An intention-guided control strategy is proposed for the upper-limb power-assist exoskeleton. A force sensor system comprised of force sensing resistors (FSRs) is designed to online estimate the motion intention of user upper limb. A new concept called “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and the observation model of IRD are obtained by enumerating the upper limb behavior modes and analyzing the relationship between the measured force signals and the motion intention. Based on these two models, the IRD can be online inferred by applying filtering technology. Guided by the estimated IRD, an admittance control strategy is assumed to control the motions of three DC motors in the joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by the experiments on a 3-DOF robotic exoskeleton.

 

 

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