The relationship between physical human-exoskeleton interaction and dynamic factors:using a learning approach for control applications

作     者：TRAN Huu-Toan CHENG Hong LIN Xi Chuan DUONG Mien-Ka HUANG Rui 

作者机构：Center for Robotics University of Electronic Science and Technology of China 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2014年第57卷第12期

页      面：5-17页

核心收录：

学科分类：0810[工学-信息与通信工程] 0808[工学-电气工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the grant of National Natural Science Foundation of China(Grant No.61273256) 

主　　题：physical human-robot interaction lower limb assistance lower exoskeleton non-parametric learning impedance control 

摘      要：During a human-exoskeleton collaboration,the interaction torque on exoskeleton resulting from the human cannot be clearly determined and conducted by normal physical *** is because the torque depends not only on direction and orientation of both human-operator and exoskeleton but also on the physical properties of each *** this paper,we present our investigations on the relationship between the interaction torques with the dynamic factors of the human-exoskeleton systems using state-of-the-art learning techniques(nonparametric regression techniques)and provide control applications based on the *** data was collected from various human-operators when they were attached to the designed exoskeleton to perform unconstraint motions with and without *** results showed that regardless of how the experiments were done and which learning method was chosen,the resulting interaction could be best represented by time varying non-linear mappings of the operator’s angular position,and the exoskeleton’s angular position,velocity,and acceleration during *** finding has been applied to advanced controls of the lower exoskeletal robots in order to improve their performance while interacting with human.