SIA OpenIR  > 智能产线与系统研究室
Perceiving and predicting the intended motion with human-machine interaction force for walking assistive exoskeleton robot
Yang MY(杨明毅); Xu ZG(徐志刚); Liu Y(刘勇); He Y(贺云); Xu YL(徐永利)
Department装备制造技术研究室
Conference Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Conference DateAugust 4-7, 2013
Conference PlaceTakamastu, Japan
Source Publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2013
Pages805-810
Indexed ByEI ; CPCI(ISTP)
EI Accession number20134817017334
WOS IDWOS:000335375900136
Contribution Rank1
ISBN978-1-4673-5560-5
KeywordExoskeleton Robot Intended Motion Human-machine Interaction Force Hybrid Control
AbstractThe characteristic of man in the loop has always brought lots of difficulties for the control of exoskeleton. To solve these, a hybrid control method based on human-machine interaction force (HMIF) is proposed and applied to the control of lower limb exoskeleton in this paper. We innovatively combine ground contact pressure and body contact force together and give full play to their respective advantages. With the virtual modification of human limb impedance properties, the nature of the human body energy saving with exoskeleton is revealed. One of the greatest strengths of this control strategy is that exoskeleton is able to perceive and anticipate the pilot intended motion in real time, thereby decrease the power consumption of pilot and provide most of the strength necessary for human walking. The simulation results demonstrate the feasibility and validity of the proposed control strategy. The exoskeleton can follow the pilot's motion trajectory and minimize the body contact force without the exact dynamic model.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13831
Collection智能产线与系统研究室
Recommended Citation
GB/T 7714
Yang MY,Xu ZG,Liu Y,et al. Perceiving and predicting the intended motion with human-machine interaction force for walking assistive exoskeleton robot[C]. Washington, DC:IEEE Computer Society,2013:805-810.
Files in This Item: Download All
File Name/Size DocType Version Access License
Perceiving and predi(1451KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yang MY(杨明毅)]'s Articles
[Xu ZG(徐志刚)]'s Articles
[Liu Y(刘勇)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yang MY(杨明毅)]'s Articles
[Xu ZG(徐志刚)]'s Articles
[Liu Y(刘勇)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yang MY(杨明毅)]'s Articles
[Xu ZG(徐志刚)]'s Articles
[Liu Y(刘勇)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Perceiving and predicting the intended motion with human-machine interaction force for walking assistive exoskeleton robot.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.