Shen Yang, Sun Jianwei, Ma Ji, Rosen Jacob
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:611-617. doi: 10.1109/ICORR.2019.8779545.
In physical rehabilitation, exoskeleton assistive devices aim to restore lost motor functions of a patient suffering from neuromuscular or musculoskeletal disorders. These assistive devices are classified as operating in one of two modes: (1) passive mode, in which the exoskeleton passively moves its joints through the full range (or a subset) of the patient's motion during engagement, or (2) assist-as-needed (AAN) mode, in which the exoskeleton provides assistance to the joints of the patient, either by initiating the movements or assisting the patient's movements to complete the task at hand. Achieving high physical human-robot interaction (pHRI) transparency is an open problem for multiple degrees-of-freedom (DOFs) redundant exoskeletons. Using the EXO-UL8 exoskeleton, this study compares two multi-joint admittance control schemes (hyper parameter-based, and Kalman Filter-based) with comfort optimization to improve human-exoskeleton transparency. The control schemes were tested by three healthy subjects who completed reaching tasks while assisted by the exoskeleton. Kinematic information in both joint and task space, as well as force-and torque-based power exchange between the human arm and exoskeleton, are collected and analyzed. The results show that the preliminary Kalman Filter-based control scheme matches the performance of the existing hyper parameter-based scheme, highlighting the potential of the Kalman Filter-based approach for additional performance.
在物理康复中，外骨骼辅助设备旨在恢复患有神经肌肉或肌肉骨骼疾病患者丧失的运动功能。这些辅助设备分为两种操作模式之一：（1）被动模式，即外骨骼在与患者接触时被动地将其关节移动通过患者运动的全范围（或子集）；（2）按需辅助（AAN）模式，即外骨骼通过启动运动或协助患者运动来完成手头任务，从而为患者的关节提供辅助。对于多自由度（DOF）冗余外骨骼而言，实现高物理人机交互（pHRI）透明度是一个开放性问题。本研究使用EXO-UL8外骨骼，将两种多关节导纳控制方案（基于超参数的和基于卡尔曼滤波器的）与舒适度优化进行比较，以提高人机外骨骼透明度。这两种控制方案由三名健康受试者进行测试，他们在由外骨骼辅助的情况下完成了伸手任务。收集并分析了关节和任务空间中的运动学信息，以及人手臂与外骨骼之间基于力和扭矩的功率交换。结果表明，初步的基于卡尔曼滤波器的控制方案与现有的基于超参数的方案性能相当，突出了基于卡尔曼滤波器的方法在提升性能方面的潜力。
