An interaction-torque controller for robotic exoskeletons with flexible joints: Preliminary experimental results

R. Vertechy, A. Frisoli, M. Solazzi, D. Pellegrinetti, M. Bergamasco
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引用次数: 10

Abstract

This paper presents the development of an interaction-torque control architecture for a rehabilitation exoskeleton (RehabExos) with flexible joints equipped with internal torque sensors. The architecture consists of an outer control loop, which is based on the kineto-statics of the RehabExos, and on four identical-independent inner full-state joint-torque controllers (IJTFC). The considered IJTFC demonstrate good stability, responsiveness and accuracy in tracking the desired torques generated by the outer controller. Comparison with other control strategies available from the literature is shown via analytical and experimental results, which highlight the improved performances of the proposed IJTFC method in controlling the RehabExos robot.
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柔性关节机器人外骨骼的交互力矩控制器:初步实验结果
本文介绍了一种用于康复外骨骼(RehabExos)的交互扭矩控制体系结构的开发,该外骨骼具有配备内部扭矩传感器的柔性关节。该结构包括一个外部控制回路(基于RehabExos的动静力学)和四个完全独立的内部全状态关节扭矩控制器(IJTFC)。所考虑的IJTFC在跟踪外部控制器产生的期望转矩方面表现出良好的稳定性、响应性和准确性。通过分析和实验结果与文献中现有的其他控制策略进行了比较,突出了所提出的IJTFC方法在控制RehabExos机器人方面的改进性能。
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