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Patient-cooperative control of variable impedance actuators (PatRiA)

可变阻抗执行器的患者合作控制 (PatRiA)

基本信息

批准号：
359716418
负责人：
Professor Dr.-Ing. Steffen Leonhardt
金额：
--
依托单位：
Lehrstuhl für Medizinische Informationstechnik (MedIT)
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2018
资助国家：
德国
起止时间：
2017-12-31 至 2020-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/359716418?language=en
关键词：
Patient cooperative control variable impedance

项目摘要

The aim of this project is the investigation of novel methods for patient-cooperative control of variable impedance actuators (VIA). The focus lies on the development of a synthesis framework to compute a feedback controller which is, at the same time, able to provide a stable and gentle interaction between patient and VIA and guarantees interaction stability between robot and patient. The synthesis framework is developed such that it can be used for any kind of VIA. For the force/torque control-loop, the investigated synthesis procedure has to take into account the time-varying behaviour of actuator output impedance, as well as any coupling in the multivariable VIA plant. A novel synthesis procedure is to be developed, that is based on Hinf-optimal control via linear matrix inequalities, with interaction stability as an additional constraint. In case of algorithm convergence problems or too conservative optimisation results, an alternative approach employing a Cayley-transformation and nonsmooth Hinf-optimisation is investigated. Since the goal of this project is to develop a patient-cooperative control, a variable degree of support is to be achieved via parameterisation of a structurally fixed cascaded impedance controller. The synthesis procedure has to provide a space of controller parameters that guarantees stable interaction between robot and patient. A novel approach using uncertain transfer functions and polynomial positivity via the Bernstein expansion algorithm will be investigated. Moreover, non-heuristic procedures should be investigated that are able to adjust the impedance parameters (via control and physical interaction) based on the patient s motor state. The developed patient-cooperative control strategies are validated in two VIA actuators that were developed at the Chair for Information Technology. For the estimation of the patient s motor state, a body sensor network is available. Finally, the developed methods are validated with subjects in a test-bench that was specifically designed for movement support of the knee joint.

该项目的目的是研究患者合作控制可变阻抗执行器 (VIA) 的新方法。重点在于开发一个综合框架来计算反馈控制器，同时能够在患者和 VIA 之间提供稳定且温和的交互，并保证机器人和患者之间交互的稳定性。综合框架的开发使其可用于任何类型的 VIA。对于力/扭矩控制环路，所研究的综合程序必须考虑执行器输出阻抗的时变行为，以及多变量 VIA 设备中的任何耦合。将开发一种新颖的合成程序，该程序基于通过线性矩阵不等式的 Hinf 最优控制，并将相互作用稳定性作为附加约束。如果出现算法收敛问题或优化结果过于保守，则研究采用凯莱变换和非平滑 Hinf 优化的替代方法。由于该项目的目标是开发患者合作控制，因此将通过结构固定的级联阻抗控制器的参数化来实现不同程度的支持。综合过程必须提供控制器参数空间，以保证机器人和患者之间的稳定交互。将研究一种通过伯恩斯坦展开算法使用不确定传递函数和多项式正性的新方法。此外，应研究能够根据患者的运动状态调整阻抗参数（通过控制和物理交互）的非启发式程序。所开发的患者合作控制策略在信息技术主席开发的两个威盛执行器中得到了验证。为了估计患者的运动状态，可以使用身体传感器网络。最后，所开发的方法在专门为膝关节运动支持而设计的测试台上对受试者进行了验证。