Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators

Jiajun Xu; Linsen Xu; Jinfu Liu; Shouqi Chen; Chanchan Xu; Yang Liu; Jian Chen

doi:10.1109/ICARM.2019.8833882

Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators

Jiajun Xu
, Linsen Xu^*
, Jinfu Liu
, Shouqi Chen
, Chanchan Xu
, Yang Liu
, Jian Chen

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

In this paper, a lower extremity robotic exoskeleton is presented to provide paralytic patients with rehabilitation training in two modes including robot-active mode and human-active mode. Magnetorheological (MR) actuators are designed and set in the robot to provide flexible joint torque. In the robot-active mode, the MR actuator works to transfer torque to the robotic joint, limiting the output torque to protect the patients from secondary injury and reducing the power consumption. While in the human-active mode, the MR actuator generates controllable damping torque by changing its input current to provide anti-resistance training to help patients strengthen muscles. Then, an adaptive human-robot interaction control method is proposed to realize smooth and stable transition between these two modes. The effect of the MR actuators is also taken into consideration. Experiments are conducted to verify performance of the robotic control.

Original language	English
Title of host publication	2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)
Publisher	IEEE
Pages	575-580
ISBN (Electronic)	978-1-7281-0064-7
ISBN (Print)	978-1-7281-0065-4
DOIs	https://doi.org/10.1109/ICARM.2019.8833882
Publication status	Published - Jul 2019
Event	4th IEEE International Conference on Advanced Robotics & Mechatronics (ICARM 2019) - Osaka University, Osaka, Japan Duration: 3 Jul 2019 → 5 Jul 2019 http://www.ieee-arm.org/icarm2019/

Publication series

Name	IEEE International Conference on Advanced Robotics and Mechatronics, ICARM
Publisher	IEEE

Conference

Conference	4th IEEE International Conference on Advanced Robotics & Mechatronics (ICARM 2019)
Abbreviated title	ICARM 2019
Place	Japan
City	Osaka
Period	3/07/19 → 5/07/19
Internet address	http://www.ieee-arm.org/icarm2019/

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10.1109/ICARM.2019.8833882

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Xu, J., Xu, L., Liu, J., Chen, S., Xu, C., Liu, Y., & Chen, J. (2019). Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators. In 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM) (pp. 575-580). Article 8833882 (IEEE International Conference on Advanced Robotics and Mechatronics, ICARM). IEEE. https://doi.org/10.1109/ICARM.2019.8833882

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title = "Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators",

abstract = "In this paper, a lower extremity robotic exoskeleton is presented to provide paralytic patients with rehabilitation training in two modes including robot-active mode and human-active mode. Magnetorheological (MR) actuators are designed and set in the robot to provide flexible joint torque. In the robot-active mode, the MR actuator works to transfer torque to the robotic joint, limiting the output torque to protect the patients from secondary injury and reducing the power consumption. While in the human-active mode, the MR actuator generates controllable damping torque by changing its input current to provide anti-resistance training to help patients strengthen muscles. Then, an adaptive human-robot interaction control method is proposed to realize smooth and stable transition between these two modes. The effect of the MR actuators is also taken into consideration. Experiments are conducted to verify performance of the robotic control.",

author = "Jiajun Xu and Linsen Xu and Jinfu Liu and Shouqi Chen and Chanchan Xu and Yang Liu and Jian Chen",

year = "2019",

month = jul,

doi = "10.1109/ICARM.2019.8833882",

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publisher = "IEEE",

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booktitle = "2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)",

address = "United States",

note = "4th IEEE International Conference on Advanced Robotics \& Mechatronics (ICARM 2019), ICARM 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

url = "http://www.ieee-arm.org/icarm2019/",

}

Xu, J, Xu, L, Liu, J, Chen, S, Xu, C, Liu, Y & Chen, J 2019, Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators. in 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)., 8833882, IEEE International Conference on Advanced Robotics and Mechatronics, ICARM, IEEE, pp. 575-580, 4th IEEE International Conference on Advanced Robotics & Mechatronics (ICARM 2019), Osaka, Japan, 3/07/19. https://doi.org/10.1109/ICARM.2019.8833882

Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators. / Xu, Jiajun; Xu, Linsen; Liu, Jinfu et al.
2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2019. p. 575-580 8833882 (IEEE International Conference on Advanced Robotics and Mechatronics, ICARM).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators

AU - Xu, Jiajun

AU - Xu, Linsen

AU - Liu, Jinfu

AU - Chen, Shouqi

AU - Xu, Chanchan

AU - Liu, Yang

AU - Chen, Jian

PY - 2019/7

Y1 - 2019/7

N2 - In this paper, a lower extremity robotic exoskeleton is presented to provide paralytic patients with rehabilitation training in two modes including robot-active mode and human-active mode. Magnetorheological (MR) actuators are designed and set in the robot to provide flexible joint torque. In the robot-active mode, the MR actuator works to transfer torque to the robotic joint, limiting the output torque to protect the patients from secondary injury and reducing the power consumption. While in the human-active mode, the MR actuator generates controllable damping torque by changing its input current to provide anti-resistance training to help patients strengthen muscles. Then, an adaptive human-robot interaction control method is proposed to realize smooth and stable transition between these two modes. The effect of the MR actuators is also taken into consideration. Experiments are conducted to verify performance of the robotic control.

AB - In this paper, a lower extremity robotic exoskeleton is presented to provide paralytic patients with rehabilitation training in two modes including robot-active mode and human-active mode. Magnetorheological (MR) actuators are designed and set in the robot to provide flexible joint torque. In the robot-active mode, the MR actuator works to transfer torque to the robotic joint, limiting the output torque to protect the patients from secondary injury and reducing the power consumption. While in the human-active mode, the MR actuator generates controllable damping torque by changing its input current to provide anti-resistance training to help patients strengthen muscles. Then, an adaptive human-robot interaction control method is proposed to realize smooth and stable transition between these two modes. The effect of the MR actuators is also taken into consideration. Experiments are conducted to verify performance of the robotic control.

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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85073244643&origin=recordpage

U2 - 10.1109/ICARM.2019.8833882

DO - 10.1109/ICARM.2019.8833882

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 978-1-7281-0065-4

T3 - IEEE International Conference on Advanced Robotics and Mechatronics, ICARM

SP - 575

EP - 580

BT - 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

PB - IEEE

T2 - 4th IEEE International Conference on Advanced Robotics & Mechatronics (ICARM 2019)

Y2 - 3 July 2019 through 5 July 2019

ER -

Xu J, Xu L, Liu J, Chen S, Xu C, Liu Y et al. Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators. In 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE. 2019. p. 575-580. 8833882. (IEEE International Conference on Advanced Robotics and Mechatronics, ICARM). doi: 10.1109/ICARM.2019.8833882

Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators

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