Proceedings ArticleDOI
PID admittance control for an upper limb exoskeleton
Wen Yu,Jacob Rosen,Xiaoou Li +2 more
- pp 1124-1129
TLDR
In this article, a model-free PID type admittance control is applied, whose parameters can be designed by human impedance properties, and sufficient conditions of semiglobal asymptotic stability are proposed via stability analysis in task space.Abstract:
The unique exoskeleton system (EXO-UL7) in UCSC is controlled in two levels. The lower-level uses standard PID control. Three force sensors in the upper-level send desired trajectories to the lower-level. The impedance/admittance control can is limit both internal and contact forces. It is impossible to design a model-based impedance/admittance control when the model of the exoskeleton is unavailable. In this paper, a model-free PID type admittance control is applied, whose parameters can be designed by human impedance properties. The inverse kinematics are required when the desired trajectories generated by admittance control in task space. It is difficult to solve the inverse kinematics problem especially when the robots are redundant, such as exoskeleton system. In this paper, we put both the upper-level PID admittance control and the lower-level linear PID control in task space. Novel sufficient conditions of semiglobal asymptotic stability are proposed via stability analysis in task space. These conditions give an explicit selection method of PID gains.read more
Citations
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Journal ArticleDOI
Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies
TL;DR: The aim of this review is to provide a taxonomy of currently available control strategies for exoskeletons for neurorehabilitation in order to formulate appropriate questions toward the development of innovative and improved control strategies.
Journal ArticleDOI
Active Exoskeleton Control Systems: State of the Art
TL;DR: In this paper, a review of the control systems in the existing active exoskeleton in the last decade is presented, which can be categorized according to the model system, the physical parameters, the hierarchy and the usage.
Journal ArticleDOI
Admittance control for physical human-robot interaction
TL;DR: This paper presents an admittance controller framework and elaborate control scheme that can be used for controller design and development, and presents seven design guidelines for achieving high-performance admittance controlled devices that can render low inertia, while aspiring coupled stability and proper disturbance rejection.
Journal ArticleDOI
Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients.
Nathanaël Jarrassé,Nathanaël Jarrassé,Nathanaël Jarrassé,Tommaso Proietti,Tommaso Proietti,Tommaso Proietti,Vincent Crocher,Vincent Crocher,Vincent Crocher,Johanna Robertson,Anis Sahbani,Anis Sahbani,Anis Sahbani,Guillaume Morel,Guillaume Morel,Guillaume Morel,Agnès Roby-Brami +16 more
TL;DR: The aim of the present text is to analyze the potential of robotic exoskeletons to specifically rehabilitate joint motion and particularly inter-joint coordination in stroke patients.
Journal ArticleDOI
Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
TL;DR: In this paper, a human-robot cooperation controller for the motion of the upper limb exoskeleton is proposed. But, the controller is not suitable for handling a load.
References
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Optimum Settings for Automatic Controllers
J. G. Ziegler,N. B. Nichols +1 more
TL;DR: In this paper, the three principal control effects found in present controllers are examined and practical names and units of measurement are proposed for each effect and corresponding units for a classification of industrial processes in terms of two principal characteristics affecting their controllability.
Optimum Settings for Automatic Controllers
TL;DR: In this paper, the three principal control effects found in present controllers are examined and practical names and units of measurement are proposed for each effect.
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Impedance Control: An Approach to Manipulation: Part I—Theory
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Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
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M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.