Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety |
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Authors: | Hao-Bo Kang Jian-Hui Wang |
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Affiliation: | 1. Northeastern University, Shenyang, China;2. College of Information Science and Engineering, Northeastern University, China |
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Abstract: | This paper studies an adaptive control strategy for a class of 5 DOF upper-limb exoskeleton robot with a special safety consideration. The safety requirement plays a critical role in the clinical treatment when assisting patients with shoulder, elbow and wrist joint movements. With the objective of assuring the tracking performance of the pre-specified operations, the proposed adaptive controller is firstly designed to be robust to the model uncertainties. To further improve the safety and fault-tolerance in the presence of unknown large parameter variances or even actuator faults, the adaptive controller is on-line updated according to the information provided by an adaptive observer without additional sensors. An output tracking performance is well achieved with a tunable error bound. The experimental example also verifies the effectiveness of the proposed control scheme. |
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Keywords: | Adaptive control Safety requirement Observer-based control Robotics |
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