Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force
Abstract The wearable exoskeleton system is a typical strongly coupled human–robotic system. Human–robotic is the environment for each other. The two support each other and compete with each other. Achieving high human–robotic compatibility is the most critical technology for wearable systems. Full...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2024-10-01
|
| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-024-01113-6 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850182658527592448 |
|---|---|
| author | Jian Cao Jianhua Zhang Chang Wang Kexiang Li Jianjun Zhang Guihua Wang Hongliang Ren |
| author_facet | Jian Cao Jianhua Zhang Chang Wang Kexiang Li Jianjun Zhang Guihua Wang Hongliang Ren |
| author_sort | Jian Cao |
| collection | DOAJ |
| description | Abstract The wearable exoskeleton system is a typical strongly coupled human–robotic system. Human–robotic is the environment for each other. The two support each other and compete with each other. Achieving high human–robotic compatibility is the most critical technology for wearable systems. Full structural compatibility can improve the intrinsic safety of the exoskeleton, and precise intention understanding and motion control can improve the comfort of the exoskeleton. This paper first designs a physiologically functional bionic lower limb exoskeleton based on the study of bone and joint functional anatomy and analyzes the drive mapping model of the dual closed-loop four-link knee joint. Secondly, an exoskeleton dual closed-loop controller composed of a position inner loop and a force outer loop is designed. The inner loop of the controller adopts the PID control algorithm, and the outer loop adopts the adaptive admittance control algorithm based on human–robot interaction force (HRI). The controller can adaptively adjust the admittance parameters according to the HRI to respond to dynamic changes in the mechanical and physical parameters of the human–robot system, thereby improving control compliance and the wearing comfort of the exoskeleton system. Finally, we built a joint simulation experiment platform based on SolidWorks/Simulink to conduct virtual prototype simulation experiments and recruited volunteers to wear rehabilitation exoskeletons to conduct related control experiments. Experimental results show that the designed physiologically functional bionic exoskeleton and adaptive admittance controller can significantly improve the accuracy of human–robotic joint motion tracking, effectively reducing human–machine interaction forces and improving the comfort and safety of the wearer. This paper proposes a dual-closed loop four-link knee joint exoskeleton and a variable admittance control method based on HRI, which provides a new method for the design and control of exoskeletons with high compatibility. |
| format | Article |
| id | doaj-art-03644cf870eb4a809c3af8713291d40c |
| institution | OA Journals |
| issn | 2192-8258 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj-art-03644cf870eb4a809c3af8713291d40c2025-08-20T02:17:34ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582024-10-0137111510.1186/s10033-024-01113-6Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction ForceJian Cao0Jianhua Zhang1Chang Wang2Kexiang Li3Jianjun Zhang4Guihua Wang5Hongliang Ren6School of Mechanical Engineering, Hebei University of TechnologySchool of Mechanical Engineering, University of Science and Technology BeijingSchool of Mechanical Engineering, University of Science and Technology BeijingSchool of Mechanical and Materials Engineering, North China University of TechnologySchool of Mechanical Engineering, Hebei University of TechnologySchool of Mechanical Engineering, Hebei University of TechnologyDepartment of Electronic Engineering, The Chinese University of Hong KongAbstract The wearable exoskeleton system is a typical strongly coupled human–robotic system. Human–robotic is the environment for each other. The two support each other and compete with each other. Achieving high human–robotic compatibility is the most critical technology for wearable systems. Full structural compatibility can improve the intrinsic safety of the exoskeleton, and precise intention understanding and motion control can improve the comfort of the exoskeleton. This paper first designs a physiologically functional bionic lower limb exoskeleton based on the study of bone and joint functional anatomy and analyzes the drive mapping model of the dual closed-loop four-link knee joint. Secondly, an exoskeleton dual closed-loop controller composed of a position inner loop and a force outer loop is designed. The inner loop of the controller adopts the PID control algorithm, and the outer loop adopts the adaptive admittance control algorithm based on human–robot interaction force (HRI). The controller can adaptively adjust the admittance parameters according to the HRI to respond to dynamic changes in the mechanical and physical parameters of the human–robot system, thereby improving control compliance and the wearing comfort of the exoskeleton system. Finally, we built a joint simulation experiment platform based on SolidWorks/Simulink to conduct virtual prototype simulation experiments and recruited volunteers to wear rehabilitation exoskeletons to conduct related control experiments. Experimental results show that the designed physiologically functional bionic exoskeleton and adaptive admittance controller can significantly improve the accuracy of human–robotic joint motion tracking, effectively reducing human–machine interaction forces and improving the comfort and safety of the wearer. This paper proposes a dual-closed loop four-link knee joint exoskeleton and a variable admittance control method based on HRI, which provides a new method for the design and control of exoskeletons with high compatibility.https://doi.org/10.1186/s10033-024-01113-6Limb exoskeletonStrongly coupled systemHuman–robot interactionAdmittance control |
| spellingShingle | Jian Cao Jianhua Zhang Chang Wang Kexiang Li Jianjun Zhang Guihua Wang Hongliang Ren Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force Chinese Journal of Mechanical Engineering Limb exoskeleton Strongly coupled system Human–robot interaction Admittance control |
| title | Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force |
| title_full | Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force |
| title_fullStr | Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force |
| title_full_unstemmed | Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force |
| title_short | Variable Admittance Control of High Compatibility Exoskeleton Based on Human–Robotic Interaction Force |
| title_sort | variable admittance control of high compatibility exoskeleton based on human robotic interaction force |
| topic | Limb exoskeleton Strongly coupled system Human–robot interaction Admittance control |
| url | https://doi.org/10.1186/s10033-024-01113-6 |
| work_keys_str_mv | AT jiancao variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce AT jianhuazhang variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce AT changwang variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce AT kexiangli variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce AT jianjunzhang variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce AT guihuawang variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce AT hongliangren variableadmittancecontrolofhighcompatibilityexoskeletonbasedonhumanroboticinteractionforce |