Ugurlu Barkan, Acer Merve, Barkana Duygun E, Gocek Ikilem, Kucukyilmaz Ayse, Arslan Yunus Z, Basturk Halil, Samur Evren, Ugur Emre, Unal Ramazan, Bebek Ozkan
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:518-523. doi: 10.1109/ICORR.2019.8779394.
In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.
在本文中，我们提出了一种新颖的概念，通过集成软质套装和机器人外骨骼，实现人类对外骨骼的感知控制。与大多数依赖集中式人机模型的现有外骨骼控制器不同，所提出的概念利用了关于人类用户和机器人的独立状态测量。独立观察人类状态的能力是这种方法的关键因素。为了从硬件角度实现这样一个系统，我们提出了一个系统集成框架，该框架结合了用于人类状态测量的软质套装和用于人类辅助的刚性外骨骼。我们确定了实现这样一个系统所需的技术要求，特别强调软质套装的集成。我们还提出了一个名为剪刀摆的模板模型，它可以封装人机组合模型的主要动力学，以合成用于人类状态调节的控制器。进行了一系列仿真实验来检验控制器的性能。结果，实现了令人满意的人类状态调节，充分证实了所提出的系统可能会改善外骨骼辅助应用。
