Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Passivity Based Adaptive Control and Its Optimization for Upper Limb Assist Exoskeleton Robot

상지 근력 보조용 착용형 외골격 로봇의 수동성 기반 적응 제어와 최적화 기법

  • Khan, Abdul Manan (Department of Mechanical Design Engineering, Hanyang University) ;
  • Ji, Young Hoon (Department of Mechatronics Engineering, Hanyang University) ;
  • Ali, Mian Ashfaq (Department of Mechatronics Engineering, Hanyang University) ;
  • Han, Jung Soo (Department of Mechanical systems Engineering, Hansung University) ;
  • Han, Chang Soo (Department of Robot Engineering, Hanyang University)
  • Received : 2015.08.07
  • Accepted : 2015.09.04
  • Published : 2015.10.01
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Abstract

The need for human body posture robots has led researchers to develop dexterous design of exoskeleton robots. Quantitative techniques to assess human motor function and generate commands for robots were required to be developed. In this paper, we present a passivity based adaptive control algorithm for upper limb assist exoskeleton. The proposed algorithm can adapt to different subject parameters and provide efficient response against the biomechanical variations caused by subject variations. Furthermore, we have employed the Particle Swarm Optimization technique to tune the controller gains. Efficacy of the proposed algorithm method is experimentally demonstrated using a seven degree of freedom upper limb assist exoskeleton robot. The proposed algorithm was found to estimate the desired motion and assist accordingly. This algorithm in conjunction with an upper limb assist exoskeleton robot may be very useful for elderly people to perform daily tasks.

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References

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