In this paper, two upper limbs of an exoskeleton robot are operated within a constrained region of the operational space with unidentified intention of the human operator’s motion as well as uncertain dynamics including physical limits. The new human-cooperative strategies are developed to detect the human subject’s movement efforts in order to make the robot behavior flexible and adaptive. The motion intention extracted from the measurement of the subject’s muscular effort in terms of the applied forces/torques can be represented to derive the reference trajectory of his/her limb using a viable impedance model. Then, adaptive online estimation for impedance parameters is employed to deal with the nonlinear and variable stiffness property of the limb model. In order for the robot to follow a specific impedance target, we integrate the motion intention estimation into a barrier Lyapunov function based adaptive impedance control. Experiments have been carried out to verify the effectiveness of the proposed dual-arm coordination control scheme, in terms of desired motion and force tracking.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations



    Erscheinungsdatum :

    2017-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Asymmetric bimanual control of dual-arm serial manipulator for robot-assisted minimally invasive surgeries

    Su H. / Schmirander Y. / Valderrama-Hincapie S. E. et al. | BASE | 2020

    Freier Zugriff

    Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

    Dalla Gasperina S. / Roveda L. / Pedrocchi A. et al. | BASE | 2021

    Freier Zugriff

    Haptic cues in bimanual cooperative transport of large objects

    Shim, Jaehyun | BASE | 2018

    Freier Zugriff

    Bimanual training

    Bare, H. Bloomfield | DataCite | 1898


    Special issue: Active exoskeletons

    Vukobratovic, Miomir | TIBKAT | 2007