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.

该项目的目的是调查可变阻抗执行器的患者合作控制方法的新方法（VIA）。重点在于开发合成框架，以计算反馈控制器，同时，该框架能够在患者和VIA之间提供稳定而温和的相互作用，并确保机器人与患者之间的相互作用稳定性。开发了合成框架，使其可用于任何类型的VIA。对于力/扭矩控制环，研究的合成程序必须考虑执行器输出阻抗的时变行为，以及通过工厂中多变量的任何耦合。要开发一种新型的合成过程，该过程基于线性基质不等式的HINF最佳控制，其相互作用稳定性是附加的约束。如果存在算法收敛问题或过于保守的优化结果，则研究了一种采用Cayley转换和非平滑性Hinf-Aptimistional的替代方法。由于该项目的目的是开发患者合作控制，因此可以通过参数化结构固定的级联阻抗控制器来实现可变的支持程度。合成过程必须提供控制器参数的空间，以确保机器人与患者之间的稳定相互作用。将研究一种使用不确定的传递函数和通过伯恩斯坦扩张算法的多项式阳性的新方法。此外，应研究能够根据患者的运动状态调整阻抗参数（通过对照和物理相互作用）的非秘密程序。开发的患者合作控制策略通过在信息技术主席开发的两个执行器中进行了验证。为了估计患者的运动状态，可以使用车身传感器网络。最后，在测试基础座位中使用的受试者对开发的方法进行了验证，该测试台是专门设计用于膝关节运动支持的。