Control of upper-limb power-assist exoskeleton based on motion intention recognition
作者： Weiguang Huo , Jian Huang , Yongji Wang , Jun Wu , Lei Cheng
DOI: 10.1109/ICRA.2011.5980483
关键词:
摘要: Recognizing the user motion intention plays an important role in study of power-assist robots. An intention-guided control strategy is proposed for upper-limb exoskeleton. A force sensor system comprised sensing resistors (FSRs) designed to online estimate upper limb. new concept called “intentional reaching direction (IRD)” quantitatively describe this intention. Both state model and observation IRD are obtained by enumerating limb behavior modes analyzing relationship between measured signals Based on these two models, can be inferred applying filtering technology. Guided estimated IRD, admittance assumed motions three DC motors joints robotic arm. The effectiveness approaches finally confirmed experiments a 3-DOF
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