Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method

doi:10.1109/TRO.2022.3189231

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method
	Wang, Weiqun 1,5; Liang, Xu 4; Liu, Shengda 1; Lin, Tianyu 1,5; Zhang, Pu 2; Lv, Zhen 2; Wang, Jiaxing 1; Hou, Zeng-Guang 1,3,5
刊名	IEEE TRANSACTIONS ON ROBOTICS
	2022-08-26
页码	14
关键词	Assistive robots Torque Robot kinematics Training Exoskeletons Biological system modeling Adaptation models Adaptive learning dynamics modeling physical human-robot interaction (pHRI) rehabilitation robot
ISSN号	1552-3098
DOI	10.1109/TRO.2022.3189231
通讯作者	Wang, Weiqun(weiqun.wang@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
英文摘要	Physical human-robot interaction performance of present rehabilitation robots are still not satisfactory in the clinical practice. Especially, the work space where the robot can be driven smoothly by users is still very limited, which prevents rehabilitation robots from being applied successfully. In this study, a new concept of drivable space is proposed to evaluate the work spaces of rehabilitation robots, and a method for expanding the drivable space is designed based on the dynamics of the coupled human-robot system and human joint characteristics. First, the definition of drivable space is presented based on comparison of human joint torques, and the minimal torques necessary to drive robot joints, which is mainly determined by the torque estimation errors for general rehabilitation robots driven smoothly by motors. Therefore, a method for improving torque estimation accuracies based on dynamics modeling is then designed. A data-driven error prediction method based on Gaussian process regression is proposed to adaptively compensate the model errors, by which the most accurate dynamic model so far for the coupled system can be obtained, and a method for generation of the training dataset, which is used in error prediction, is designed as well. Moreover, the torque-angle relationship of human joints is modeled and used to optimize the torque error distribution, by which it can be proven that the drivable space can be further expanded. Finally, performance of the proposed methods are demonstrated and validated by experiments carried out on a lower limb rehabilitation robot.
资助项目	National Natural Science Foundation of China[U1913601] ; National Natural Science Foundation of China[61720106012] ; Beijing SciTech Program[Z211100007921021] ; Beijing SciTech Program[4202074] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000]
WOS关键词	IDENTIFICATION ; COMPENSATION ; FRICTION ; MODEL
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000849230300001
资助机构	National Natural Science Foundation of China ; Beijing SciTech Program ; Strategic Priority Research Program of Chinese Academy of Science
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50071]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Wang, Weiqun; Hou, Zeng-Guang
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.China Rehabil Res Ctr, Beijing 100068, Peoples R China 3.Macau Univ Sci & Technol, Inst Syst Engn, CASIA Must Joint Lab Intelligence Sci & Technol, Macau 999078, Peoples R China 4.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Wang, Weiqun,Liang, Xu,Liu, Shengda,et al. Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method[J]. IEEE TRANSACTIONS ON ROBOTICS,2022:14.
APA	Wang, Weiqun.,Liang, Xu.,Liu, Shengda.,Lin, Tianyu.,Zhang, Pu.,...&Hou, Zeng-Guang.(2022).Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method.IEEE TRANSACTIONS ON ROBOTICS,14.
MLA	Wang, Weiqun,et al."Drivable Space of Rehabilitation Robot for Physical Human-Robot Interaction: Definition and an Expanding Method".IEEE TRANSACTIONS ON ROBOTICS (2022):14.