Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot

doi:10.1109/TMECH.2024.3394491

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室 > 医疗机器人

	Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot
	Liang, Xu 7; Yan, Yuchen 6; Wang, Weiqun 5; Su, Tingting 4; He, Guangping 6; Li, Guotao 5; Hou, Zeng-Guang 1,2,3
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2024-06-14
页码	12
关键词	Adaptive learning human-robot interaction rehabilitation robot torque estimation
ISSN号	1083-4435
DOI	10.1109/TMECH.2024.3394491
通讯作者	Wang, Weiqun(weiqun.wang@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
英文摘要	Accurate acquisition of interactive information is crucial for the effective execution of rehabilitation training. However, due to model and sensor errors, it is difficult to obtain interactive information accurately and quickly. To overcome these challenges, a novel accurate and fast estimation method for the human-robot interaction torques (HRITs) is proposed in this article. First, the HRIT model with order adaptive adjustment ability (HMOAA) is constructed. The polynomial order of HMOAA can be adaptively adjusted based on the partial state estimation, which is more consistent with the dynamic time-varying characteristics of HRIT. Second, the Sage-Husa adaptive strong tracking Kalman filter (SHASTKF) is designed based on the modified Sage-Husa adaptive Kalman filter (SHAKF) and strong tracking Kalman filter (STKF). The SHASTKF can quickly track the abrupt HRIT changes when the subject suddenly exerts active torques in rehabilitation training. Moreover, it also has the ability to recursively estimate the noise characteristics, and can stably complete the HRIT estimation task when the noise characteristics are unknown. Finally, simulations and experiments are conducted to validate the proposed method, and the comparison results demonstrate that the proposed method has good torque estimation precision and fast tracking ability of abrupt changes in HRITs.
资助项目	National Key R&D Program of China
WOS关键词	SYSTEMS
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001248180700001
资助机构	National Key R&D Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/58758]
专题	多模态人工智能系统全国重点实验室_医疗机器人
通讯作者	Wang, Weiqun; Hou, Zeng-Guang
作者单位	1.Macau Univ Sci & Technol, Inst Syst Engn, CASIA MUST Joint Lab Intelligence Sci & Technol, Macau, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 6.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 7.Beijing Jiaotong Univ, Sch Automat & Intelligence, Beijing 100044, Peoples R China
推荐引用方式 GB/T 7714	Liang, Xu,Yan, Yuchen,Wang, Weiqun,et al. Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2024:12.
APA	Liang, Xu.,Yan, Yuchen.,Wang, Weiqun.,Su, Tingting.,He, Guangping.,...&Hou, Zeng-Guang.(2024).Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA	Liang, Xu,et al."Adaptive Human-Robot Interaction Torque Estimation With High Accuracy and Strong Tracking Ability for a Lower Limb Rehabilitation Robot".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024):12.