Power-Based Velocity-Domain Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction
Power-Based Velocity-Domain Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction
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DOI：
10.1109/tro.2022.3197932
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发表时间：
2023-02
影响因子：
7.8
通讯作者：
Peter Paik;Smrithi Thudi;S. F. Atashzar
中科院分区：
文献类型：
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作者：
Peter Paik;Smrithi Thudi;S. F. Atashzar
人体生物力学的超额被动性(EoP)在吸收人与机器人物理交互过程中的相互作用能量方面起着至关重要的作用，并可被用于稳定以人为中心的机器人系统的控制器所利用。然而，第一代基于EoP的非线性稳定器加载力反射通道，导致力剖面退化。这将对严重依赖力反射质量的应用提出挑战，例如远程机器人康复。本文探讨了开发一种非线性稳定器的可能性，该稳定器根据相应的EoP图将反射速度修正为从动侧算子。作为远程康复背景下的一项应用福利，拟议的稳定器不需要关于所有患者的EoP的信息；相反，它将要求与这组患者一起工作的个别治疗师提供这些信息。给出了基于功率的速度域变结构无源信号控制(PV-VSPSC)稳定器的非线性设计的数学推导和稳定性证明。本文通过系统实验和系统网格仿真研究对所提出的非线性稳定器进行了评价。
The excess of passivity (EoP) of the human biomechanics plays an imperative role in absorbing the interaction energy during physical human–(tele)robot interaction and can be exploited by controllers used for stabilization of human-centered (tele)robotic systems. However, the first generation of nonlinear EoP-based stabilizers loaded the force reflection channel resulting in degradation of the force profile. This will challenge applications that are heavily dependent on the quality of force reflection, such as telerobotic rehabilitation. This article explores the possibility of developing a nonlinear stabilizer that modifies the reflected velocity to the follower-side operator based on the corresponding EoP map. As an applied benefit in the context of telerehabilitation, the proposed stabilizer does not require information about the EoP of all patients; instead, it would require that for the individual therapist who works with the group of patients. The article provides the mathematical derivation and stability proof of the nonlinear design of the stabilizer named “power-based velocity-domain variable structure passivity signature control (PV-VSPSC).” The proposed nonlinear stabilizer is evaluated through systematic experiments and systematic grid simulation studies in this paper.