Series-elastic actuator with two degree-of-freedom PID control improves torque control in a powered knee exoskeleton
Series-elastic actuator with two degree-of-freedom PID control improves torque control in a powered knee exoskeleton
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具有两个自由度 PID 控制的串联弹性执行器改善了动力膝外骨骼的扭矩控制
DOI：
10.1017/wtc.2023.20
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发表时间：
2023
影响因子：
--
通讯作者：
Lenzi, Tommaso
中科院分区：
文献类型：
--
作者：
Sarkisian, Sergei V.;Gabert, Lukas;Lenzi, Tommaso
电动外骨骼需要轻便、紧凑和高效的执行器，同时允许精确的扭矩控制。为了满足这些要求，研究人员提出了使用串联弹性驱动器(SEA)的建议。SEA使用与旋转或线性执行器串联的弹簧。弹簧顺应性与适当的控制方案相结合，改善了扭矩控制、效率、输出阻抗和干扰抑制。然而，弹簧增加了执行器的重量，增加了控制的复杂性，这可能会对动力外骨骼的性能产生负面影响。因此，对比现有系统更轻、更有效的新海洋设计，以及无需复杂建模和调整即可推动海基外骨骼性能的控制策略的需求尚未得到满足。本文介绍了一种用于动力外骨骼的新型高力密度SEA的设计、开发和测试，以及使用两自由度(2DOF)PID系统来改善输出阻抗和干扰抑制。台式测试结果显示，与单自由度的PID控制器相比，使用2自由度的PID控制器时，输出阻抗和阻尼值都有所降低。与三个健全的受试者(N=3)的人体实验表明，使用2自由度PID控制器时，力矩跟踪得到了改善，均方根误差减少了45.2%，峰值误差减少了49.8%。此外，肌电数据显示，在辅助模式下使用外骨骼时，与在透明模式下操作的外骨骼相比，外骨骼的峰值肌电值降低。
Powered exoskeletons need actuators that are lightweight, compact, and efficient while allowing for accurate torque control. To satisfy these requirements, researchers have proposed using series elastic actuators (SEAs). SEAs use a spring in series with rotary or linear actuators. The spring compliance, in conjunction with an appropriate control scheme, improves torque control, efficiency, output impedance, and disturbance rejection. However, springs add weight to the actuator and complexity to the control, which may have negative effects on the performance of the powered exoskeleton. Therefore, there is an unmet need for new SEA designs that are lighter and more efficient than available systems, as well as for control strategies that push the performance of SEA-based exoskeletons without requiring complex modeling and tuning. This article presents the design, development, and testing of a novel SEA with high force density for powered exoskeletons, as well as the use of a two degree-of-freedom (2DOF) PID system to improve output impedance and disturbance rejection. Benchtop testing results show reduced output impedance and damping values when using a 2DOF PID controller as compared to a 1DOF PID controller. Human experiments with three able-bodied subjects (N = 3) show improved torque tracking with reduced root-mean-square error by 45.2% and reduced peak error by 49.8% when using a 2DOF PID controller. Furthermore, EMG data shows a reduction in peak EMG value when using the exoskeleton in assistive mode compared to the exoskeleton operating in transparent mode.
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具有高扭矩密度的动力髋部外骨骼，适用于步行、跑步和爬楼梯
DOI：
10.1109/tmech.2022.3159506
发表时间：
2022
期刊：
IEEE/ASME Transactions on Mechatronics
影响因子：
--
作者：
Ishmael, Marshall K.;Archangeli, Dante;Lenzi, Tommaso
通讯作者：
Lenzi, Tommaso
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DOI：
--
发表时间：
2000
期刊：
影响因子：
--
作者：
Hidefumi Taguchi;M. Araki
通讯作者：
M. Araki
影响因子：
82.9
作者：
Ishmael, Marshall K.;Archangeli, Dante;Lenzi, Tommaso
通讯作者：
Lenzi, Tommaso
DOI：
10.1109/icorr55369.2022.9896571
发表时间：
2022-07
期刊：
2022 International Conference on Rehabilitation Robotics (ICORR)
影响因子：
--
作者：
Sergei V. Sarkisian;Andrew J. Gunnell;K. Foreman;T. Lenzi
通讯作者：
Sergei V. Sarkisian;Andrew J. Gunnell;K. Foreman;T. Lenzi
影响因子：
7.8
作者：
Aguirre-Ollinger, Gabriel;Yu, Haoyong
通讯作者：
Yu, Haoyong