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http://dx.doi.org/10.7736/KSPE.2015.32.10.857

Passivity Based Adaptive Control and Its Optimization for Upper Limb Assist Exoskeleton Robot  

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)
Publication Information
Journal of the Korean Society for Precision Engineering / v.32, no.10, 2015 , pp. 857-863 More about this Journal
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.
Keywords
Robot control; Human robot interaction; Passivity based adaptive control;
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