Markovian Transparency Control of an Exoskeleton Robot
IEEE Robotics and Automation Letters(2023)
摘要
In wearable robotics, certain applications require the robot to be transparent, i.e., imperceptible to the user. This is a very difficult cooperative control task due to the inherent coupling between human and robot, unpredictable human movements, and user-dependent behavior. In this letter, we propose a novel transparency controller based on discrete-time Markovian jump linear systems to minimize the human-robot interaction forces of an exoskeleton robot during walking. Our model-based stochastic control approach describes a gait cycle as an event-dependent Markov chain and uses a given transition matrix to switch between them. An IMU-based Kalman filter is used to perform real-time human state estimation and gait phase detection. The robustness and effectiveness of the proposed controller are demonstrated with experiments on a lower-limb exoskeleton driven by series elastic actuators.
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关键词
Transparency control,markovian jump linear systems,physical human-robot interaction
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