Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition


Recognition of the wearer's motion intention plays an necessary role within the study of power-assist robots. During this paper, an intention-guided management strategy is proposed and applied to an upper-limb power-assist exoskeleton. Meanwhile, a personality's-robot interface comprised of force-sensing resistors (FSRs) is meant to estimate the motion intention of the wearer's higher limb in real time. Moreover, a new concept referred to as the “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and also the observation model of IRD are obtained by finding out the higher limb behavior modes and analyzing the link between the measured force signals and the motion intention. Based on these two models, the IRD will be inferred online using an adapted filtering technique. Guided by the inferred IRD, an admittance control strategy is deployed to control the motions of three DC motors placed at the corresponding joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by experiments on a three degree-of-freedom (DOF) higher-limb robotic exoskeleton.

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