Soft Interaction Between Body Weight Support System and Human Using Impedance Control Based on Fractional Calculus
Soft Interaction Between Body Weight Support System and Human Using Impedance Control Based on Fractional Calculus
复制标题
基于分数阶微积分的阻抗控制体重支撑系统与人体的软交互
DOI：
10.1080/01691864.2012.689724
复制
发表时间：
2012
影响因子：
2
通讯作者：
and M. G. Fujie
中科院分区：
文献类型：
--
作者：
Y. Kobayashi;T. Watanabe;M. Seki;T. Ando;and M. G. Fujie
近年来，人们对旨在帮助残疾人进行日常活动的机器人进行了研究和开发。为了实现柔性接触和协作行为，对控制技术提出了很高的要求。本文报道了一种基于分数计算的新型阻抗控制方法，该方法受肌肉等生物材料的粘弹性特性启发。本文通过模拟和实验对这一概念进行了评价，并使用机器人系统进行体重支撑。实验结果表明，与常规控制器相比，分数阶阻抗控制器具有更好的接触力吸收性能，特别是对于高刚度和高速运动的对象。这种分数阻抗控制器特别适用于人的辅助和康复机器人的灵活接触。
In recent years, research and development have been conducted on robots designed to assist people with disabilities in daily activities. There is a great demand for control technology for realizing flexible contact and cooperative behavior. We here report a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This paper presents an evaluation of this concept by simulation and by experiment using a robotic system for body weight support. The experimental results demonstrated that the fractional impedance controller has superior contact force absorption performance compared with a conventional controller, especially for high-stiffness objects and high-velocity movement. This fractional impedance controller may be useful especially for the purpose of flexible contact for assistive and rehabilitation robots for people.