Scale Force Control of an Exoskeleton for Human Performance Augmentation
Scale Force Control of an Exoskeleton for Human Performance Augmentation
复制标题
用于增强人类表现的外骨骼的尺度力控制
DOI：
10.1007/s10846-022-01611-6
复制
发表时间：
2022-09-01
影响因子：
3.3
通讯作者：
Ya, Chunbaixue
中科院分区：
文献类型：
--
作者：
Lang, Lin;Xiao, Junhao;Ya, Chunbaixue
用于增强人体性能的外骨骼已在诸多环境中得到广泛应用，涵盖军事、工业以及建筑等领域。对于助力负重外骨骼而言，关键问题之一在于控制人机交互（HRI）力。本文首先针对人体承载助力外骨骼（HBAE）和机器人承载助力外骨骼（RBAE）提出了一种统一的比例力控制（SFC）框架。此外，鉴于认知层面和物理层面的人机交互（分别为cHRI和pHRI），提出了一种中层SFC方法。在此基础上，为负重外骨骼（LCEs）设计了一种混合底层控制器。最后，在一款负重外骨骼上对所提方法进行了仿真。仿真结果表明了所提SFC方法的有效性：无论负载状态如何，始终能为穿戴者提供任意按比例减小的交互力。
Exoskeletons for human performance augmentation have been widely applied in many environments, ranging from military, industry, to construction. For load-carrying augmentation exoskeletons, one of the key issues is to control the human-robot interaction (HRI) force. This paper firstly proposes a unified framework for scale force control (SFC) of human-bearing augmentation exoskeleton (HBAE) and robot-bearing augmentation exoskeleton (RBAE). Furthermore, a mid-level SFC method was proposed, in the light of both cognitive and physical HRIs (cHRI and pHRI). On this basis, a hybrid low-level controller was designed for load-carrying exoskeletons (LCEs). Finally, the proposed method was simulated on an LCE. The simulation results demonstrate the effectiveness of our SFC approach: the pilot is always provided with an arbitrary scaled-down interaction force, regardless of the load state.