使用角加速度和速度估计控制气动可穿戴运动辅助设备

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI:10.1109/ROMAN.2014.6926405

F. Fujii, Yuta Hirose, Hiroyoshi Murata, T. Okada

{"title":"使用角加速度和速度估计控制气动可穿戴运动辅助设备","authors":"F. Fujii, Yuta Hirose, Hiroyoshi Murata, T. Okada","doi":"10.1109/ROMAN.2014.6926405","DOIUrl":null,"url":null,"abstract":"The focus of this paper is to develop a control system for wearable motion assist device giving physical support for people who are doing physically demanding tasks. Two key technical issues in developing such a device are how to generate the reference trajectory for the actuator installed to provide appropriate motion support, and how to determine the strength and duration of assist to help complete current physical task. This paper tackles the use of joint angular acceleration and velocity estimates in the control of motion assist device. How the estimates are generated, how they are used in control and how the control system is organized to achieve performance requirements will be described. Several experiments have been conducted to test basic functionality of the developed 5 d.o.f. wearable assist device as well as to gain insights on how to tune physically motivated control system parameters.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Use of angular acceleration and velocity estimates for control of pneumatic-powered wearable motion assist device\",\"authors\":\"F. Fujii, Yuta Hirose, Hiroyoshi Murata, T. Okada\",\"doi\":\"10.1109/ROMAN.2014.6926405\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The focus of this paper is to develop a control system for wearable motion assist device giving physical support for people who are doing physically demanding tasks. Two key technical issues in developing such a device are how to generate the reference trajectory for the actuator installed to provide appropriate motion support, and how to determine the strength and duration of assist to help complete current physical task. This paper tackles the use of joint angular acceleration and velocity estimates in the control of motion assist device. How the estimates are generated, how they are used in control and how the control system is organized to achieve performance requirements will be described. Several experiments have been conducted to test basic functionality of the developed 5 d.o.f. wearable assist device as well as to gain insights on how to tune physically motivated control system parameters.\",\"PeriodicalId\":235810,\"journal\":{\"name\":\"The 23rd IEEE International Symposium on Robot and Human Interactive Communication\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-10-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 23rd IEEE International Symposium on Robot and Human Interactive Communication\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMAN.2014.6926405\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMAN.2014.6926405","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

本文的重点是开发一种可穿戴运动辅助设备的控制系统，为从事体力要求高的任务的人提供身体支持。开发这种装置的两个关键技术问题是如何为所安装的执行器生成参考轨迹以提供适当的运动支持，以及如何确定辅助的强度和持续时间以帮助完成当前的物理任务。本文研究了关节角加速度和速度估计在运动辅助装置控制中的应用。将描述如何生成评估，如何在控制中使用评估，以及如何组织控制系统以实现性能需求。已经进行了几个实验来测试开发的5 d.o.f.可穿戴辅助设备的基本功能，以及如何调整物理驱动控制系统参数的见解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Use of angular acceleration and velocity estimates for control of pneumatic-powered wearable motion assist device

The focus of this paper is to develop a control system for wearable motion assist device giving physical support for people who are doing physically demanding tasks. Two key technical issues in developing such a device are how to generate the reference trajectory for the actuator installed to provide appropriate motion support, and how to determine the strength and duration of assist to help complete current physical task. This paper tackles the use of joint angular acceleration and velocity estimates in the control of motion assist device. How the estimates are generated, how they are used in control and how the control system is organized to achieve performance requirements will be described. Several experiments have been conducted to test basic functionality of the developed 5 d.o.f. wearable assist device as well as to gain insights on how to tune physically motivated control system parameters.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

自引率

0.00%

发文量