An Assist-as-Needed Velocity Field Control Scheme for Rehabilitation Robots
Hamed Jabbari Asl, Tatsuo Narikiyo, Michihiro Kawanishi
Abstract
This paper addresses the problem of assist-as-needed (AAN) control for rehabilitation robots. To achieve a motion which is not explicitly a function of time, the velocity field control is considered in this paper. The proposed new controller consists of a proportional-like feedback term and a neural network (NN) term, where the later is exploited to compensate for the dynamic uncertainties of the system. The AAN property is facilitated by means of a dead-zone function in the feedback control term and a forgetting factor in the adaptation law of NN component. The designed controller guarantees the stability of the system with a bounded control command. The performance of the proposed AAN scheme is validated through the simulation and experiment conducted on a lower-limb exoskeleton.
BibTeX
@inproceedings{iros2018_anassistasneeded,
title = {An Assist-as-Needed Velocity Field Control Scheme for Rehabilitation Robots},
author = {Hamed Jabbari Asl and Tatsuo Narikiyo and Michihiro Kawanishi},
booktitle = {IROS 2018},
year = {2018}
}