Power assist control for leg with HAL-3 based on virtual torque and impedance adjustment
Power assist control for leg with HAL-3 based on virtual torque and impedance adjustment
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DOI：
10.1109/icsmc.2002.1173329
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发表时间：
2002-10
期刊：
影响因子：
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通讯作者：
S. Lee;Y. Sankai
中科院分区：
文献类型：
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作者：
S. Lee;Y. Sankai
本文介绍了一种基于神经肌肉信号、表面肌电（s-EMG）和膝关节周围阻抗调节的下半身助力控制方法，该方法使用我们开发的HAL（Hybrid Assistive Leg）-3辅助系统。通过s-EMG计算的虚拟扭矩使HAL-3能够按照实验对象戴上HAL的意图进行操作，并通过预测关节周围的力矩来辅助下半身的运动。此外，操作员能够通过减少受试者和HAL-3关节周围的惯性和粘性摩擦来更轻地摆动腿。为了验证所提出的方法，简单的运动进行实验与阻抗值的参数识别与RLS（递归最小二乘法）方法。辅助运动的评估是通过辅助效率（AE）完成的，辅助效率（AE）是从s-EMG计算的，几乎与操作者的肌肉力量成比例。结果表明，阻抗调节后，输入执行器的操作信号响应明显改善，s-EMG幅值明显降低，从而证实了阻抗调节的有效性。
This paper describes a method of power assist control for lower body based on neuromuscular signal, s-EMG (surface ElectroMyogram/Myoelectricity), and impedance adjustment around knee joint with the assist system, HAL (Hybrid Assistive Leg) -3 we have developed. Virtual Torque calculated by s-EMG enabled the HAL-3 to be operated as to intention of the experimental subject put on HAL, and assist the motion of lower body by predicting the moment around joints. Besides, the operator was able to swing the leg lighter by reducing the inertia and viscous friction around joint of the subject and HAL-3. In order to verify the proposed method, experiments for simple motion was performed with impedance values found by parameter identification with RLS (Recursive Least Square) method. The evaluation of assisted motion was done by Assist Efficiency (AE) calculated from s-EMG in nearly proportion to the operator's muscle force. The results showed the response of operational signal into actuator with impedance adjustment was improved dramatically, and the amplitudes of s-EMG were reduced significantly, then we could confirm the availability of impedance adjustment.