Data Driven Calibration and Control of Compact Lightweight Series Elastic Actuators for Robotic Exoskeleton Gloves.
Data Driven Calibration and Control of Compact Lightweight Series Elastic Actuators for Robotic Exoskeleton Gloves.
复制标题
数据驱动的校准和紧凑型轻质串联弹性执行器的控制，用于机器人外骨骼手套。
DOI：
10.1109/jsen.2021.3101143
复制
发表时间：
2021-10
影响因子：
4.3
通讯作者：
Ben-Tzvi, Pinhas
中科院分区：
文献类型：
--
作者：
Guo, Yunfei;Xu, Wenda;Pradhan, Sarthark;Bravo, Cesar;Ben-Tzvi, Pinhas
关键词：
SEA的工作原理是使用串联到机械动力源的弹性材料来模拟人类肌肉的动态行为。由于可穿戴机器人外骨骼重量和尺寸的限制，SEA的硬件设计受到限制。紧凑和轻便的海洋通常有噪声信号输出，很容易变形。本文采用一种紧凑型、轻量化的外骨骼手套海面来演示无法测量的应变和摩擦力，该海面上测力的平均偏差为34.31%，最大偏差为44.7%。本文提出了两种数据驱动的机器学习方法来精确标定和控制SEA。多层感知(MLP)方法使测力的平均误差降低到10.18%，最大误差减小到29.13%。曲面拟合法使测力的平均误差减小到8.06%，最大误差减小到35.72%。在控制实验中，加权MLP方法实现了平均0.21N的力控制差，SF方法实现了外骨骼手套指尖平均0.29N的力控制差。
The working principle of a SEA is based on using an elastic material connected serially to the mechanical power source to simulate the dynamic behavior of a human muscle. Due to weight and size limitations of a wearable robotic exoskeleton, the hardware design of the SEA is limited. Compact and lightweight SEAs usually have noisy signal output, and can easily be deformed. This paper uses a compact lightweight SEA designed for exoskeleton gloves to demonstrate immeasurable strain and friction force which can cause an average of 34.31% and maximum of 44.7% difference in force measurement on such SEAs. This paper proposes two data driven machine learning methods to accurately calibrate and control SEAs. The multi-layer perception (MLP) method can reduce the average force measurement error to 10.18% and maximum error to 29.13%. The surface fitting method (SF) method can reduce the average force measurement error to 8.06% and maximum error to 35.72%. In control experiments, the weighted MLP method achieves an average of 0.21N force control difference, and the SF method achieves an average of 0.29N force control difference on the finger tips of the exoskeleton glove.
登录
查看更多内容
影响因子：
3.3
作者：
Jo, Inseong;Bae, Joonbum
通讯作者：
Bae, Joonbum
影响因子：
1.9
作者：
Nilsen, Tove;Hermann, Merete;Kjeken, Ingvild
通讯作者：
Kjeken, Ingvild
DOI：
10.1007/s12555-013-0386-0
发表时间：
2015-04-01
影响因子：
3.2
作者：
Kim, Hyo-gon;Lee, Jong-won;Han, Changsoo
通讯作者：
Han, Changsoo
影响因子：
2.1
作者：
Diez, Jorge A.;Blanco, Andrea;Garcia-Aracil, Nicolas
通讯作者：
Garcia-Aracil, Nicolas
DOI：
10.1115/detc2020-22348
发表时间：
2020-08-01
期刊：
Proceedings of the ... ASME Design Engineering Technical Conferences. ASME Design Engineering Technical Conferences
影响因子：
--
作者：
Xu, Wenda;Pradhan, Sarthak;Ben-Tzvi, Pinhas
通讯作者：
Ben-Tzvi, Pinhas