Iterative assist-as-needed control with interaction factor for rehabilitation robots  

作　　者：CAO Ran CHENG Long YANG ChenGuang DONG Zhe 

机构地区：[1]School of Artificial Intelligence,University'of Chinese Academy of Sciences,Beijing 100049,China [2]State Key Laboratory for Management and Control of Complex Systems,Institute of Automation.Chinese Academy of Sciences,Beijing 100190,China [3]School of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China [4]School of Electrical and Control Engineering,North China Universityof Technology,Beijing 100144,China

出　　处：《Science China(Technological Sciences)》2021年第4期836-846,共11页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant Nos. U1913209, 61873268, 62025307);the Beijing Municipal Natural Science Foundation (Grant No. JQ19020)。

摘　　要：Rehabilitation robots for stroke patients have drawn considerable attention because they can reduce the economic and labor costs brought by traditional rehabilitation. Control methods for rehabilitation robots have been developed to stimulate the active motion of patients and to improve the effectiveness of rehabilitation care. However, current control methods can only roughly adjust the system’s stiffness and may fail in achieving satisfactory performance. To this end, this paper introduces a novel cost function consisting of the tracking error term and the stiffness term. The cost function contains an interaction factor that represents the patient’s motion intention to balance the weight of these two terms. When the patients try to actively do training tasks, the weight of stiffness term increases, which leads to the larger allowable tracking error and lower stiffness eventually. An iterative updating law of the stiffness matrix is given to reduce the proposed cost function. Theoretical analysis based on the Lyapunov theory is given to ensure the feasibility of the proposed algorithm. Furthermore, a force estimation is used to improve interaction control performance. Finally, simulation experiments are provided to show the effectiveness of the proposed algorithm.

关 键 词：human-robot interaction IMPEDANCE STIFFNESS CONTROL REHABILITATION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]