Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittan...

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Bibliographic Details
Published in2018 IEEE International Conference on Robotics and Automation (ICRA) pp. 2828 - 2834
Main Authors Van Lenthe, P.G., Verros, S., Hekman, E.E.G., Carloni, R., Koopman, H.F.J.M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2018
Subjects
Admittance
Exoskeletons
Force
Force measurement
Robots
Task analysis
Trajectory
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Summary:Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance.
ISSN:2577-087X
DOI:10.1109/ICRA.2018.8461062