中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 复杂系统认知与决策实验室
  5. 先进机器人控制团队
Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method

文献类型：期刊论文

作者Wang, Weiqun2,3; Liang, Xu1; Liu, Shengda3; Lin, Tianyu2,3; Zhang, Pu5; Lv, Zhen5; Wang, Jiaxing3; Hou, Zeng-Guang2,3,4
刊名IEEE TRANSACTIONS ON ROBOTICS
出版日期2022-08-26
页码14
关键词Assistive robots Torque Robot kinematics Training Exoskeletons Biological system modeling Adaptation models Adaptive learning dynamics modeling physical human-robot interaction (pHRI) rehabilitation robot
ISSN号1552-3098
DOI10.1109/TRO.2022.3189231
通讯作者Wang, Weiqun(weiqun.wang@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
英文摘要Physical human-robot interaction performance of present rehabilitation robots are still not satisfactory in the clinical practice. Especially, the work space where the robot can be driven smoothly by users is still very limited, which prevents rehabilitation robots from being applied successfully. In this study, a new concept of drivable space is proposed to evaluate the work spaces of rehabilitation robots, and a method for expanding the drivable space is designed based on the dynamics of the coupled human-robot system and human joint characteristics. First, the definition of drivable space is presented based on comparison of human joint torques, and the minimal torques necessary to drive robot joints, which is mainly determined by the torque estimation errors for general rehabilitation robots driven smoothly by motors. Therefore, a method for improving torque estimation accuracies based on dynamics modeling is then designed. A data-driven error prediction method based on Gaussian process regression is proposed to adaptively compensate the model errors, by which the most accurate dynamic model so far for the coupled system can be obtained, and a method for generation of the training dataset, which is used in error prediction, is designed as well. Moreover, the torque-angle relationship of human joints is modeled and used to optimize the torque error distribution, by which it can be proven that the drivable space can be further expanded. Finally, performance of the proposed methods are demonstrated and validated by experiments carried out on a lower limb rehabilitation robot.
WOS关键词IDENTIFICATION ; COMPENSATION ; FRICTION ; MODEL
资助项目National Natural Science Foundation of China[U1913601] ; National Natural Science Foundation of China[61720106012] ; Beijing SciTech Program[Z211100007921021] ; Beijing SciTech Program[4202074] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000849230300001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Beijing SciTech Program ; Strategic Priority Research Program of Chinese Academy of Science
源URL[http://ir.ia.ac.cn/handle/173211/50071]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Wang, Weiqun; Hou, Zeng-Guang
作者单位1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
4.Macau Univ Sci & Technol, Inst Syst Engn, CASIA Must Joint Lab Intelligence Sci & Technol, Macau 999078, Peoples R China
5.China Rehabil Res Ctr, Beijing 100068, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Weiqun,Liang, Xu,Liu, Shengda,et al. Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method[J]. IEEE TRANSACTIONS ON ROBOTICS,2022:14.
APA Wang, Weiqun.,Liang, Xu.,Liu, Shengda.,Lin, Tianyu.,Zhang, Pu.,...&Hou, Zeng-Guang.(2022).Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method.IEEE TRANSACTIONS ON ROBOTICS,14.
MLA Wang, Weiqun,et al."Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method".IEEE TRANSACTIONS ON ROBOTICS (2022):14.

入库方式： OAI收割

来源：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。