Adaptive Admittance Control of Hybrid Exoskeletons

Christian A. Cousin
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引用次数: 2

Abstract

Hybrid exoskeletons combine two increasingly common rehabilitative therapies, functional electrical stimulation (FES) and robotic therapy, for use on individuals with neuromuscular disorders. As hybrid exoskeletons increase in popularity and complexity, it remains an ever-important issue to not only assist people in performing rehabilitation, but also to guarantee their safety while coupled to the exoskeleton. In this paper, a novel adaptive controller for hybrid exoskeletons is developed to regulate an admittance error system using the exoskeleton’s motors while simultaneously regulating a position error system using the operator’s muscles, stimulated through FES. The stability of the controller is rigorously analyzed using a combined Lyapunov-passivity approach and while the hybrid exoskeleton is proven to be energetically passive, the admittance error system is proven to demonstrate global exponential convergence to a uniform ultimate bound. Simulations were performed on a two degree-of-freedom lower-limb hybrid exoskeleton to demonstrate the efficacy of the controller. Results show the controller achieves an average admittance tracking error of 0.00±0.08 rad and 0.00±0.08 rad/s for joint one (the knee joint), and 0.01±0.11 rad and 0.01±0.12 rad/s for joint two (the ankle joint), while simultaneously applying FES to the operator’s muscles for rehabilitation.
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混合外骨骼的自适应导纳控制
混合外骨骼结合了两种越来越常见的康复疗法,功能性电刺激(FES)和机器人疗法,用于神经肌肉疾病患者。随着混合外骨骼的普及和复杂性的增加,不仅要帮助人们进行康复,还要保证他们在与外骨骼耦合时的安全,这仍然是一个越来越重要的问题。本文开发了一种新型的混合外骨骼自适应控制器,利用外骨骼的马达调节导纳误差系统,同时利用FES刺激的操作者肌肉调节位置误差系统。采用组合lyapunov - passive方法对控制器的稳定性进行了严格的分析,同时证明了混合外骨骼是能量被动的,证明了导纳误差系统具有全局指数收敛到一致的最终界。以二自由度下肢混合外骨骼为实验对象进行了仿真,验证了该控制器的有效性。结果表明,控制器对关节1(膝关节)的平均导纳跟踪误差分别为0.00±0.08 rad和0.00±0.08 rad/s,对关节2(踝关节)的平均导纳跟踪误差分别为0.01±0.11 rad和0.01±0.12 rad/s,同时对操作者肌肉施加FES进行康复。
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