Research on Impendence Control of an Upper Limb Exoskeleton Robot and Joint Experiments

doi:10.3901/JME.2020.19.200

Abstract

Abstract: The exoskeleton robot is worn by the human operator, which can be designed as an assistance, augmentation or interaction device for rehabilitation or teleoperation field. Human-robot interaction control is important for an upper limb exoskeleton robot. An impendence control model for an upper limb exoskeleton robot is proposed and the dynamics model of an integrated joint and the impendence control approach is designed in detail. A position-based impedance control method and a force-based impedance control method are presented to deal with the following task in exoskeleton robot interaction. Parameter improvement method of impedance control is discussed based on characteristics of a secondary system. The numerical simulation model of a single joint's impedance control is established, and the influence of inertia, damping, stiffness and human-robot stiffness parameter on impedance control performance is respectively analyzed by simulation experiments. The physical experiments of a single joint's impedance control are set up. The experimental results show that the collision safety function, gravity compensation, and impedance control are available and the human-robot cooperative movement is verified.

Key words: upper limb exoskeleton, impendence control, teleoperation, robot, human-robot interaction

CLC Number:

TP24

LI Haiyuan, LIU Chang, YAN Lutao, ZHANG Bin, LI Duanling, ZHANG Qinjian. Research on Impendence Control of an Upper Limb Exoskeleton Robot and Joint Experiments[J]. Journal of Mechanical Engineering, 2020, 56(19): 200-209.

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