Preliminary study in motion assistance of soft exoskeleton robot based on data-driven kinematics model learning
文献类型：会议论文
| 作者 | Li N(李宁)1,2 ; Li JL(李家霖)1; Yang T(杨铁)1; Yang Y(杨洋)1; Yu P(于鹏)1; Liu LQ(刘连庆)1; Qin WL(秦旺林)3
|
| 出版日期 | 2019 |
| 会议日期 | December 6-8, 2019 |
| 会议地点 | Dali, China |
| 关键词 | Bio-Inspired soft exoskeleton robot Personalized assistive strategy Data-driven Model-based learning |
| 页码 | 2794-2799 |
| 英文摘要 | Exoskeleton is widely used to enhance human mobility. Especially in recent years, the soft exoskeleton robots have developed rapidly, which could realize natural human-machine physiological coupling. However, the motion patterns and physiological parameters are significant various between different subjects. The parameters of the soft exoskeletons change differently during motion. In this paper, we proposed kinematics model based on data-driven model learning. The proposed model learning method not only has the fast learning ability of model-based controller, but also has the adaptability of sensor-based controller. Firstly, we use the data of the rigid model to pre-train the kinematics model network, which can make the output of the network consistent with the kinematics model. Then, we use the sensors to collect the actual motion data and send the motion data into the pre-trained neural network model. By increasing the iteration times of training, the network model outputs model parameters that are consistent with the trend of the simulation model. Through the training and learning of the bionic motion platform, the speed of learning adaptation in human body can be accelerated. |
| 产权排序 | 1 |
| 会议录 | IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-6321-5 |
| 源URL | [http://ir.sia.cn/handle/173321/26288]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Yu P(于鹏); Liu LQ(刘连庆) |
| 作者单位 | 1.Shenyang Institute of Automation Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, University of Chinese Academy of Sciences, Beijing 100049, China 3.Shenyang Jianzhu University, Institutes for Robotics and Intelligent Manufacturing, Shenyang 110000, China 4.Emerging Technologies Institute, Department of Industrial and Manufacturing Systems Engineering, University of Hong Kong, Pokfulam, Hong Kong |
| 推荐引用方式 GB/T 7714 | Li N,Li JL,Yang T,et al. Preliminary study in motion assistance of soft exoskeleton robot based on data-driven kinematics model learning[C]. 见:. Dali, China. December 6-8, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。