Human-Inspired Control of Dual-Arm Exoskeleton Robots With Force and Impedance Adaptation

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 50; no. 12; pp. 5296 - 5305
• Main Authors: Li, Zhijun, Xu, Cuichao, Wei, Qiang, Shi, Chao, Su, Chun-Yi
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation; adaptive robust control; Controllers; Exoskeletons; Force; human-robot interaction; Impedance; Impedance control; Interaction parameters; Manipulators; Muscles; Robot control; robotic exoskeleton; Robots; Stiffness; stiffness identification; Task analysis; Unknown environments

Humans can adapt to complex environments by voluntarily adjusting the impedance parameters and interaction force. Traditional robots perform tasks independently without considering their interactions with the external environment, which leads to poor flexibility and adaptability. Comparatively, huma...