Abstract
An exoskeleton system contains a human operator in the control loop, which imposes restrictions on the applied control algorithms and movement speed. Robotics is the central topic of the latest physical artificial intelligence that links computing, biology, chemistry, material science, mechanical engineering. This study explores the robotic exoskeleton system that contains a human operator in the control loop, which imposes restrictions on the applied control algorithms and movement speed. At the moment, there are a number of tasks in research projects towards exoskeleton control algorithms. These tasks include consideration of fatigue of a person arising from the control of the exoskeleton over long period of time. Operator’s fatigue, as a result of the monotonous operations, leads to the fact that the control efficiency decreases, and the positioning error will increase over time. Another task when controlling using human biopotentials is compensation of the influence of the operator's tremor on the control signal. Also, a very important factor is the adaptation of actuators to a change in the transient characteristics of external and internal forces. This article describes the results of tests of an arm exoskeleton device with DC drive located in the elbow joint and a control algorithm based on an electromyogram of the biceps brachii and triceps brachii of the operator. The structure and features of the experimental stand developed in the laboratory of robotics and mechatronics of IPMech RAS are shown. The sensitivity adjustment technique within the exoskeleton control system is proposed.
Highlights
Developing a control system for an active exoskeleton with the use of operator’s electromyogram (EMG) as the setting signal has its own distinctive features
Modern methods of controlling complex mechatronic systems require a special approach to calculate the parameters of the control system, which would take into account the current psychophysiological state of the operator
This paper presents the creation of a working model of the elbow exoskeleton device, and it presents the results of experimental studies conducted in the Laboratory of Robotics and Mechatronics of the Institute for Problems in Mechanics of the Russian Academy of Sciences
Summary
Developing a control system for an active exoskeleton with the use of operator’s electromyogram (EMG) as the setting signal has its own distinctive features. The creation of exoskeleton device with an EMG-based control system that takes into account the interaction of humans and exoskeleton design elements becomes one of the most actual tasks of modern robotics. The relevance of the current research is related to the need of improving the quality of control in the human-machine system, due to the adaptation of the control system to the psychophysiological characteristics of the certain operator. The practical application of such techniques in relation to an exoskeleton device, the control system of which is based on the use of information about muscle biopotentials, is the possibility of creating an algorithm for configuring the exoskeleton control system for a specific user and for a specific task type. Based on the obtained characteristics, one can develop a set of values for each group, which will serve as a reference when calibrating the control system
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