پروژه 24

عنوان مقاله فارسی: کنترل امپدانس تطبیقی برای یک اسکلت بیرونی رباتیک اندام فوقانی با استفاده از سیگنال های بیولوژیکی

عنوان مقاله لاتین: Adaptive Impedance Control for an Upper Limb Robotic Exoskeleton Using Biological Signals

نویسندگان: Zhijun Li; Zhicong Huang; Wei He; Chun-Yi Su

تعداد صفحات: 10

سال انتشار: 2017

زبان: لاتین

Abstract:

This paper presents adaptive impedance control of an upper limb robotic exoskeleton using biological signals. First, we develop a reference musculoskeletal model of the human upper limb and experimentally calibrate the model to match the operators motion behavior. Then, the proposed novel impedance algorithm transfers stiffness from human operator through the surface electromyography (sEMG) signals, being utilized to design the optimal reference impedance model. Considering the unknown deadzone effects in the robot joints and the absence of the precise knowledge of the robots dynamics, an adaptive neural network control incorporating with a high-gain observer is developed to approximate the deadzone effect and robots dynamics and drive the robot tracking desired trajectories without velocity measurements. In order to verify the robustness of the proposed approach, the actual implementation has been performed using a real robotic exoskeleton and a human operator.