Integral Admittance Shaping for Exoskeleton Control

Nagarajan, U; Aguirre-Ollinger, G; Goswami, A

Integral Admittance Shaping for Exoskeleton Control

Nagarajan, U Aguirre-Ollinger, G Goswami, A

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: Proccedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5641 - 5648 (8)
Issue Date:: 2015-05-30

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Field	Value	Language
dc.contributor.author	Nagarajan, U	en_US
dc.contributor.author	Aguirre-Ollinger, G	en_US
dc.contributor.author	Goswami, A	en_US
dc.date	2015-05-26	en_US
dc.date.issued	2015-05-30	en_US
dc.identifier.citation	Proccedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5641 - 5648 (8)	en_US
dc.identifier.isbn	978-1-4799-6923-4	en_US
dc.identifier.uri	http://hdl.handle.net/10453/36753
dc.description.abstract	A wide variety of strategies have been developed for assisting human locomotion using powered exoskeletons. Although these strategies differ in their aims as well as the control methods employed, they have the implicit property of causing a virtual modification of the dynamic response of the human limb. We use this property of the exoskeletons action to formulate a unified control design framework called Integral Admittance Shaping, which designs exoskeleton controllers capable of producing the desired dynamic response for the assisted limb. In this framework, a virtual increase in the admittance of the limb is produced by coupling it to an exoskeleton that exhibits active behavior. Specifically, our framework shapes the magnitude profile of the integral admittance (i.e. torque-to-angle relationship) of the coupled human-exoskeleton system, such that the desired assistance is achieved. This framework also ensures that the coupled stability and passivity are guaranteed. This paper presents a formulation of Integral Admittance Shaping for single degree-of-freedom (1-DOF) exoskeleton devices. We also present experimental results on a modified version of Honda’s Stride Management Assist (SMA) device that successfully demonstrate motion amplification of the assisted hip joint during walking.	en_US
dc.publisher	IEEE	en_US
dc.relation.ispartof	Proccedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)	en_US
dc.relation.ispartof	2015 IEEE International Conference on Robotics and Automation (ICRA)	en_US
dc.relation.isbasedon	10.1109/ICRA.2015.7139989	en_US
dc.rights	© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.title	Integral Admittance Shaping for Exoskeleton Control	en_US
dc.type	Conference Proceeding
utslib.location	Piscataway, USA	en_US
utslib.location.activity	Seattle, Washington	en_US
dc.location.activity	Seattle, Washington
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access
pubs.consider-herdc	true	en_US
pubs.finish-date	2015-05-30	en_US
pubs.place-of-publication	Piscataway, USA	en_US
pubs.publication-status	Published	en_US
pubs.start-date	2015-05-26	en_US

Abstract:

A wide variety of strategies have been developed for assisting human locomotion using powered exoskeletons. Although these strategies differ in their aims as well as the control methods employed, they have the implicit property of causing a virtual modification of the dynamic response of the human limb. We use this property of the exoskeletons action to formulate a unified control design framework called Integral Admittance Shaping, which designs exoskeleton controllers capable of producing the desired dynamic response for the assisted limb. In this framework, a virtual increase in the admittance of the limb is produced by coupling it to an exoskeleton that exhibits active behavior. Specifically, our framework shapes the magnitude profile of the integral admittance (i.e. torque-to-angle relationship) of the coupled human-exoskeleton system, such that the desired assistance is achieved. This framework also ensures that the coupled stability and passivity are guaranteed. This paper presents a formulation of Integral Admittance Shaping for single degree-of-freedom (1-DOF) exoskeleton devices. We also present experimental results on a modified version of Honda’s Stride Management Assist (SMA) device that successfully demonstrate motion amplification of the assisted hip joint during walking.

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http://hdl.handle.net/10453/36753