Cooperative Control of the Two-handed Flexible Exoskeleton for Rehabilitation Based on the Process of Juggling Task
MENG Qiaoling1,2,3, CHEN Liyu1,2,3, JIANG Mingpeng1,2,3, SHEN Zhijia1,2,3, NIE Zhiyang1,2,3, LIU Xiaojin1,2,3, XIE Qiaolian1,2,3, YU Hongliu1,2,3
1. Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China; 2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China; 3. Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
孟巧玲, 陈立宇, 姜明鹏, 沈志家, 聂志洋, 刘晓瑾, 谢巧莲, 喻洪流. 柔性双手康复外骨骼抛接任务的过程协同控制[J]. 机器人, 2021, 43(6): 664-673.DOI: 10.13973/j.cnki.robot.210070.
MENG Qiaoling, CHEN Liyu, JIANG Mingpeng, SHEN Zhijia, NIE Zhiyang, LIU Xiaojin, XIE Qiaolian, YU Hongliu. Cooperative Control of the Two-handed Flexible Exoskeleton for Rehabilitation Based on the Process of Juggling Task. ROBOT, 2021, 43(6): 664-673. DOI: 10.13973/j.cnki.robot.210070.
Abstract：To solve the problems of two-handed flexible exoskeleton in juggling task, such as slow response, an energy transfer model of two-handed juggling process and a hybrid force/position cooperative control system with position feed-forward are proposed. Firstly, an energy transfer model of object-hand collision is established based on the movement characteristics of two-handed juggling process. Then, a mathematical model of coupling between the flexible exoskeleton hand and the human hand is established based on the law of energy conservation and the principle of virtual work. Meanwhile, the rope elongation in the juggling-collision model is deduced, which is considered as the feedforward value in position compensation. For the driving rope, the control system adopts position control at the beginning of juggling process, and switches to force control when the rope elongation remains unchanged and the tension value of the rope continues to increase. Finally, position control and force interaction experiments in juggling an actual object with the two-handed flexible exoskeleton are carried out to prove the dynamic responsiveness and effectiveness of the proposed position feedforward control strategy based on the rope elongation and the stability of fingertip contact force under the force interaction control in the posterior period. The experimental results show that the two-handed flexible exoskeleton for rehabilitation can assist the user to realize the rapid grasp of the objects, and meet the cooperative control requirements for the exoskeleton hand in the juggling task.
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