Abstract
The basic requirements for mechanical design and control strategy are adapting to human joint movements and building an interaction model between human and robot. In this paper, a 3-UPS parallel mechanism is adopted to realize that the instantaneous rotation center of the assistive system coincides with human joint movement center, and a force sensory system is used to detect human movement intention and build the modeling of control strategy based on the interactive force. Then, based on the constructed experimental platform, the feasibility of movement intention detection and power assisting are verified through the experimental results.
Highlights
Called as a powered exoskeleton robot, is a special robot that aims at improving the capability and efficiency of users. e assistive robots have been developed to be used for human limb strength [1], neurorehabilitation [2], or movement assistance [3]. e challenges for current research of assistive robot include the followings: how to design an assistive robot to adapt human movement, how to obtain human movement intention to promote the humanmachine interaction, and how to control the robot to provide an effective assistance
In the human-machine interaction process, obtaining the human movement intention is fundamental for controlling the assistive robot. e sensory systems are used to detect users’ movement intention or muscular activities during the process of humanmachine interaction, which could be detected directly by measuring EMG, interaction force sensors, gait information, and/or even EEG
When the movement is performed in response to an external stimulus, the same neuron may discharge hundreds of milliseconds before a slow and accurate movement of small amplitude or only 60 ∼100 ms (TA) before a ballistic movement [19]. e ballistic movement can be detected by EMG or force sensor
Summary
Called as a powered exoskeleton robot, is a special robot that aims at improving the capability and efficiency of users. e assistive robots have been developed to be used for human limb strength [1], neurorehabilitation [2], or movement assistance [3]. e challenges for current research of assistive robot include the followings: how to design an assistive robot to adapt human movement, how to obtain human movement intention to promote the humanmachine interaction, and how to control the robot to provide an effective assistance.e design of an assistive robot should consider the physical structure of the joint and muscle to support the body weight during movements. As one important part of the human lower limb, is considered as a spherical joint with three DoFs. Some studies have designed kinds of assistive robots for hip joint power assisting. Movement assistance process is called as humanmachine interaction, which requires a strong synergy between the user and the assistive robot. In the human-machine interaction process, obtaining the human movement intention is fundamental for controlling the assistive robot. E sensory systems are used to detect users’ movement intention or muscular activities during the process of humanmachine interaction, which could be detected directly by measuring EMG, interaction force sensors, gait information, and/or even EEG. NAEIES [5] is developed for helping the user carry heavy loads, where the human-machine interaction force is measured by multiaxis force/torque sensors. AAFO, developed by Yonsei University, uses four force sensors to detect the gait events [7]
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