A Control Scheme to Minimize Muscle Energy for Power Assistant Robotic Systems Under Unknown External Perturbation

Authors
Lee, JaeminKim, MinkyuKim, Keehoon
Issue Date
2017-12
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, v.25, no.12, pp.2313 - 2327
Abstract
This paper proposes a novel control method to minimize muscle energy for power-assistant robotic systems that support the intended motions of a user under unknown external perturbations, using surface electromyogram (sEMG) signals. Conventional control methods based on force/torque (F/T) sensors have limitations to detect human intentions and could, presumably, misunderstand or distort such intentions because of external perturbations of the interaction forces, such as those found in activities of daily living. F/T sensors measure the sum of the applied force, including unknown external forces and human intention; thus, a power-assistant robot controller cannot exactly decompose the real human force. In this paper, we describe a counterexample that cannot be supported by conventional force-sensor-based control methods. We also verify why these control methods may guide human behavior in the wrong direction, and thus, have limitations under unknown external perturbations. We then propose a new control method to minimize the muscle energy indicated by sEMG signals. The proposed control approach is fundamentally based on the concept of power-assistance, in which a robot can reduce the users expended muscle energy while performing given tasks. The proposed control approach is verified through experiments using a power-assistant robotic system for the upper limbs under external perturbations.
Keywords
DRIVEN MUSCULOSKELETAL MODEL; EXOSKELETON ROBOT; EMG CONTROL; REHABILITATION; DESIGN; THERAPY; DRIVEN MUSCULOSKELETAL MODEL; EXOSKELETON ROBOT; EMG CONTROL; REHABILITATION; DESIGN; THERAPY; Power-assistant robot; sEMG; wearable robot; external perturbation
ISSN
1534-4320
URI
https://pubs.kist.re.kr/handle/201004/122012
DOI
10.1109/TNSRE.2017.2723609
Appears in Collections:
KIST Article > 2017
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