A reference augmentation design for the adaptive control of a wearable assist robot powered by the McKibben actuator
A reference augmentation design for the adaptive control of a wearable assist robot powered by the McKibben actuator
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DOI：
10.1109/smc.2017.8122758
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发表时间：
2017-10
期刊：
影响因子：
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通讯作者：
Hisao Jitosho;F. Fujii
中科院分区：
文献类型：
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作者：
Hisao Jitosho;F. Fujii
本文重点介绍了一种可穿戴助力装置的控制系统设计，该装置为正在执行体力要求较高的任务的人提供力/扭矩支持。该装置由McKibben人工肌肉驱动。已知McKibben致动器在供应压力和收缩长度之间呈现高度非线性，并且基本上难以设计高性能控制器。本研究提出了使用最小控制器综合算法来设计一个高性能的控制器的执行器。用户的关节角速度，角加速度和由用户施加到框架的接触力被馈送到所提出的控制器，以提高设备对人体运动输入的响应，同时提供足够的辅助力。负载提升实验已经进行了评估所提出的控制系统的性能。
This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance controller. The present study proposes the use of the Minimal Controller Synthesis algorithm to design a high performance controller for the actuator. The user's joint angular velocity, angular acceleration and the contact force exerted by the user to the frame are fed to the proposed controller to improve the response of the device to the human motion input while providing adequate assist force. Load lifting experiments have been conducted to evaluate the performance of the proposed control system.