IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator

Autor(es)

dos Santos, Leonardo F. ; Escalante, Felix M. ; Siqueira, Adriano A. G. ; Boaventura, Thiago ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC); v. N/A, p. 6-pg., 2022-01-01.

Resumo

Wearable devices such as rehabilitation robots, power augmentation exoskeletons, and haptic manipulators feature operation modes that need to mirror the user's action as naturally as possible. By tracking such motions, the human-robot physical interaction is minimized, or, in other words, the device displays effusive mechanical transparency. The present work applies a transparency control framework based on inertial measurement units fixed on the user to a series elastic exoskeleton joint. This approach guarantees the robot's transparent behavior without explicitly relying on force or human-robot interaction sensors. Instead, we used a state estimator to provide the human-related quantities needed for feedforward and feedback control. The proposed controller considers the dynamics of the series elastic actuator for two motor driver configurations: torque-based and velocity-based low-level control. Using a novel definition of the human-robot transparency impedance, we designed and experimentally evaluated the performance of both controllers. (AU)

• Processo FAPESP: 18/15472-9 - Controle de impedância de atuadores hidráulicos para robôs com pernas e braços
• Beneficiário: Thiago Boaventura Cunha
• Modalidade de apoio: Auxílio à Pesquisa - Jovens Pesquisadores
• Processo FAPESP: 13/14756-0 - Impedância variável adaptativa aplicada à reabilitação robótica do caminhar
• Beneficiário: Adriano Almeida Gonçalves Siqueira
• Modalidade de apoio: Auxílio à Pesquisa - Regular
• Processo FAPESP: 21/09244-6 - Benchmark de controladores de impedância
• Beneficiário: Leonardo Felipe Lima Santos dos Santos
• Modalidade de apoio: Bolsas no Brasil - Doutorado Direto
• Processo FAPESP: 19/05937-7 - Estratégias adaptativas híbridas para exoesqueletos de membros inferiores
• Beneficiário: Adriano Almeida Gonçalves Siqueira
• Modalidade de apoio: Auxílio à Pesquisa - Regular