Estimation of mass parameters for cooperative human and soft-robots as basis for assistive control of rehabilitation devices
Estimation of mass parameters for cooperative human and soft-robots as basis for assistive control of rehabilitation devices
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DOI：
10.1109/raad.2014.7002229
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发表时间：
2014-09
期刊：
影响因子：
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通讯作者：
André Wilkening;O. Ivlev
中科院分区：
文献类型：
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作者：
André Wilkening;O. Ivlev
为了安全的人机交互，机器人，特别是外骨骼，应该对用户透明，以用户感觉不到它们的重量的方式。在机器人辅助骨科康复中，患者通常对疼痛敏感，并且通常无法自行抬起患肢，这一要求至关重要。为了让患者在手术干预后直接积极参与，不仅必须补偿机器人的重量，还必须补偿患者四肢的重量。几个辅助作用软机器人康复设备已开发的上，下肢的基础上，气动驱动器与旋转弹性腔室（REC-致动器），以及适合人机交互，因为自然固有的顺应性。为了提供机器人的透明度，以及考虑到病人的行为，努力和能力，并支持患者的高自愿努力，开发的自适应基于模型的辅助控制策略的基本基础是单独的模型的软机器人和个别患者的四肢。本文提出了一种方法来估计未知的软机器人康复设备的质量参数，以及个人的四肢，使用最少数量的实验测量以及气动REC致动器的具体特性，而不使用扭矩传感器。实验研究表明，使用模型的基础上估计的参数在控制过程中的影响，使用四自由度软机器人，以及一个原型的辅助肘教练与一个未受损的主题，作为第一部分的上肢康复机器人。
For safe human-robot interaction, the robots, especially exoskeletons, should be transparent for the user, in a way that the user does not feel their weight. In robot-assisted orthopedic rehabilitation, where patients are often sensitive to pain and often not able to lift affected limbs by themselves, this requirement is of crucial importance. To allow patients directly after surgical intervention to participate actively, not only the weight of the robot, but also the weight of the patient's extremity must be compensated. Several assistive acting soft robotic rehabilitation devices have been developed for upper and lower extremities based on pneumatic actuators with rotary elastic chambers (REC-actuators), well suitable for human-robot interaction because of natural inherent compliance. The essential basis for developed adaptive model-based assistive control strategies, in order to provide robot transparency as well as take into account patient's behavior, effort and abilities, and support patients with high voluntary effort, are separated models of soft-robots and of individual patient's extremities. This paper presents an approach to estimate unknown mass parameters of soft robotic rehabilitation devices as well as of individual human's extremities, using a minimal number of experimental measurements as well as specific characteristics of pneumatic REC-actuators without the use of torque sensors. An experimental study shows the influence of using the models based on estimated parameters during control, using a four DoF soft-robot as well as a prototype of an assistive elbow trainer with an unimpaired subject, as first part of a upper extremity rehabilitation robot.