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

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Science China(Information Sciences) 2014年第12期57卷 5-17页

作者： TRAN Huu-Toan CHENG Hong LIN Xi Chuan DUONG Mien-Ka HUANG Rui Center for Robotics University of Electronic Science and Technology of China

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.

关键词： physical human-robot interaction lower limb assistance lower exoskeleton non-parametric learning impedance control

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