The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Sensorless Force Control with Observer for Multi-functional Upper Limb Rehabilitation Robot

다기능 재활운동을 위한 힘 센서가 없는 상지 재활 로봇의 힘 제어

  • Received : 2017.04.25
  • Accepted : 2017.08.03
  • Published : 2017.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

Keywords

References

  1. N. Tobias, and R Riener, "ARMin-design of a novel arm rehabilitation robot," IEEE International Conference on Rehabilitation Robotics, pp. 57-60, 2005.
  2. H.I. Krebs, M. Ferraro, S.P. Buerger, M.J. Newbery, A. Makiyama, M. Sandmann, L. Daniel, T. V. Bruce, and N. Hogan, "Rehabilitation robotics: pilot trial of a spatial extension for MIT-Manus," Journal of Neuro Engineering and Rehabilitation, vol. 1 no. 1, pp. 1-15, 2004. https://doi.org/10.1186/1743-0003-1-1
  3. J.C. Perry, J. Rosen, and S. Burns, "Upper-limb powered exoskeleton design," IEEE/ASME transactions on mechatronics, vol. 12, no. 4, pp. 408-417, 2007. https://doi.org/10.1109/TMECH.2007.901934
  4. R.J, Sanchez, J. Liu, S. Rao, P. Shah, R. Smith, T. Rahman, S.C. Cramer, J.E. Bobrow, amd D. J. Reinkensmeyer, "Automating arm movement training following severe stroke: functional exercises with quantitative feedback in a gravity-reduced environment," IEEE Transactions on neural systems and rehabilitation engineering, vol. 14, no. 3, pp. 378-389, 2006. https://doi.org/10.1109/TNSRE.2006.881553
  5. G. Rosati, P. Gallina, and S. Masiero, "Design, implementation and clinical tests of a wire-based robot for neurorehabilitation," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 15, no. 4, pp. 560-569, 2007. https://doi.org/10.1109/TNSRE.2007.908560
  6. C.G. Burgar, P.S. Lim, A.M.E. Scremin, S.L Garber, L. Van, and H.F. Machiel, "Robot-assisted upper-limb therapy in acute rehabilitation setting following stroke: Department of Veterans Affairs multisite clinical trial," Journal of rehabilitation research and development, vol. 48, no. 4, pp. 445-458, 2011. https://doi.org/10.1682/JRRD.2010.04.0062
  7. N. Hogan, "Impedance Control: An Approach to Manipulation: Part II-Implementation," Journal of Dynamic Systems, Measurement, and Control, vol. 107, no. 1, pp. 8-16, 1985. https://doi.org/10.1115/1.3140713
  8. S.M. Kim, Y.J. Choi, and W.K. Chung, "Design of Torque Servo for Impedance Control of Double Vane Rotary Hydraulic Actuator System," Journal of Korea Robotics Society, vol. 5, no. 2, pp. 160-168, 2010.
  9. A. Albu-Schaffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, C. Ott, A. Stemmer, T. Wimbock, S. Wolf, C. Borst, and G. Hirzigner, "Anthropomorphic soft robotics-from torque control to variable intrinsic compliance," Springer Berlin Heidelberg, In Robotics research, pp. 185-207, 2011.
  10. C. Ott, R. Mukherjee, and Y. Nakamura, "A hybrid system framework for unified impedance and admittance control," Journal of Intelligent & Robotic Systems, vol. 78, no. 3, pp. 359-375, 2015. https://doi.org/10.1007/s10846-014-0082-1
  11. S. Haddadin, A. Albu-Schaffer, and G. Hirzinger, "The role of the robot mass and velocity in physical human-robot interaction-Part I: Non-constrained blunt impacts," IEEE International Conference on Robotics and Automation, pp. 1331-1338, 2008.
  12. S. Oh, H. Woo, and K. Kong, "Frequency-shaped impedance control for safe human-robot interaction in reference tracking application," IEEE/ASME Transactions On Mechatronics, vol. 19, no. 6, pp. 1907-1916, 2014. https://doi.org/10.1109/TMECH.2014.2309118
  13. N. Vuong, H.Y. Kwon, N.H. Chuc, D. Kim, K. An, V.H. Phuc, H. Moon, J. Koo, Y. Lee, J.-D. Nam, and H.R. Choi, "Active skin as new haptic interface," International Society for Optics and Photonics SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring, vol. 7642, pp. 1-9, 2010.
  14. H.-K. Lee, S.-I. Chang, E. Yoon., "Dual-mode capacitive proximity sensor for robot application: Implementation of tactile and proximity sensing capability on a single polymer platform using shared electrodes," Ieee Sensors Journal, vol. 9, no. 12, pp. 1748-1755, 2009. https://doi.org/10.1109/JSEN.2009.2030660
  15. H.S. Han, J. Park, T.D. Nguyen, U. Kim, C.T. Nguyen, H. Phung, and H.R. Choi, "A highly sensitive dual mode tactile and proximity sensor using Carbon Microcoils for robotic applications," International Conference on Robotics and Automation, pp. 97-102, 2016.
  16. A.D. Luca and M. Raffaella, "Sensorless robot collision detection and hybrid force/motion control. In: Robotics and Automation" IEEE International Conference on Robotics and Automation, pp. 999-1004, 2005.
  17. T. Teodor and S. Haddadin, "A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4197-4204, 2014.
  18. T. Murakami, F. Yu, and K. Ohnishi, "Torque sensorless control in multidegree-of-freedom manipulator," IEEE Transactions on Industrial Electronics, vol. 40, no. 2, pp. 259-265, 1993.
  19. B. Ugurlu, M. Nishimura, K. Hyodo, M. Kawanishi, and T. Narikiyo, "Proof of concept for robot-aided upper limb rehabilitation using disturbance observers" IEEE Transactions on Human-Machine Systems, vol. 45, no. 1, pp. 110-118, 2015. https://doi.org/10.1109/THMS.2014.2362816
  20. J. An, J.H. Choi, and S.M. Lee, "One Source Multi-Functional and Multi Use Upper Limb Training Robot," International Conference on Recent Advances in Neurorehabilitation, 2015.
  21. J.H. Choi, T.W. Seo, and J.W. Lee, "Singularity analysis of a planar parallel mechanism with revolute joints based on a geometric approach," International Journal of Precision Engineering and Manufacturing, vol. 14, no. 8, pp. 1369-1375, 2013. https://doi.org/10.1007/s12541-013-0185-9
  22. J.H. Choi, D.H. Shin, T.S. Park, C.P. Jeong, J.I. Moon, and J. An, "Kinematic Design Consideration Based on Actuator Placement of Five-bar Planar Robot for Arm Rehabilitation," Key Engineering Materials, vol. 625, pp. 638-643, 2014. https://doi.org/10.4028/www.scientific.net/KEM.625.638
  23. J. An and D. Kwon, "Stability and Performance of Haptic Interfaces with Active/Passive Actuators - Theory and Experiments," International Journal of Robotic Research, vol. 25, no. 11, pp. 1121-1136, 2006. https://doi.org/10.1177/0278364906071034
  24. U. Keller, G. Rauter, and R. Riener, "Assist-as-needed path control for the PASCAL rehabilitation robot," IEEE International Conference on Rehabilitation Robotics, pp. 1-7, 2013.
  25. P. Nicholas, S. Oh, and L. Sentis, "Design and control considerations for high-performance series elastic actuators," IEEE/ASME Transactions on Mechatronics, vol. 19, no. 3, pp. 1080-1091, 2014. https://doi.org/10.1109/TMECH.2013.2270435
  26. S. Oh, K. Kong, and Y. Hori, "Design and analysis of force-sensor-less power-assist control," IEEE Transactions on Industrial Electronics, vol. 61, no. 2, pp. 985-993, 2014. https://doi.org/10.1109/TIE.2013.2270214

Cited by

  1. 어깨의 움직임을 중심으로 한 상지재활로봇 NREX의 착용감 개선 vol.14, pp.4, 2019, https://doi.org/10.7746/jkros.2019.14.4.318