Xia Haisheng, Pi Ming, Jin Lingjing, Song Rong, Li Zhijun
IEEE Trans Cybern. 2025 Jan;55(1):247-258. doi: 10.1109/TCYB.2024.3483148. Epub 2024 Dec 19.
For leg prosthesis user, the soft tissue and skin under the stump of are not accustomed to weight bearing, excessive continuous contact pressure can lead to the risk of degenerative tissue ulceration. This article presents a novel human-robot collaborative control scheme that achieves control weight self-adjustment for robotic prostheses to minimize interaction torque. To establish the human-robot interaction relationship, we regard the contact pressure between human residual limb and the prosthetic receiving cavity as the interaction force. We aim at reducing the interaction force under the premise of minimally changing the original motion trajectory of the robotic prosthesis. The control scheme mainly includes trajectory optimization based on a dual-agent game control scheme under a cooperative relationship, and a fuzzy logic system for improving the control accuracy of trajectory tracking of robotic prostheses with unknown dynamic parameters. Experiments were carried out on two amputee participants to verify the proposed human-robot interactive control scheme in a robotic prosthesis. The results show that the interaction torque could be reduced while maintaining minimal trajectory tracking error. The proposed control scheme could potentially facilitate the dexterous manipulation of leg prostheses, thus benefiting amputees.
对于腿部假肢使用者而言，残肢下方的软组织和皮肤不习惯承重，持续的过大接触压力会导致组织退行性溃疡的风险。本文提出了一种新型人机协作控制方案，该方案实现了对机器人假肢的控制重量自我调节，以最小化交互扭矩。为了建立人机交互关系，我们将人体残肢与假肢接受腔之间的接触压力视为交互力。我们的目标是在最小程度改变机器人假肢原始运动轨迹的前提下，降低交互力。该控制方案主要包括基于合作关系下的双智能体博弈控制方案的轨迹优化，以及用于提高具有未知动态参数的机器人假肢轨迹跟踪控制精度的模糊逻辑系统。在两名截肢参与者身上进行了实验，以验证所提出的机器人假肢人机交互控制方案。结果表明，在保持最小轨迹跟踪误差的同时，可以降低交互扭矩。所提出的控制方案可能有助于腿部假肢的灵活操作，从而使截肢者受益。
