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A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions

Kim, MinJun and Lee, Woongyong and Choi, Jaeyeon and Chung, Goobong and Han, Kyung-Lyong Han and Choi, Il Seop and Ott, Christian and Chung, Wan Kyun (2019) A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions. IEEE-ASME Transactions on Mechatronics. IEEE - Institute of Electrical and Electronics Engineers. ISSN 1083-4435

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Abstract

This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot, which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction in the control loop. The robot interacts with the human operator via force/torque (F/T) sensor and interacts with the environment mainly via end-effectors. Although the environmental interaction cannot be detected by any sensors (hence unknown), passivity allows us to have natural interaction. An analysis shows that the behavior of the actual system mimics that of a nominal model as the control gain goes to infinity, which implies that the proposed approach is an admittance controller. However, because the control gain cannot grow infinitely in practice, the performance limitation according to the achievable control gain is also analyzed. The result of this analysis indicates that the performance in the sense of infinite norm increases linearly with the control gain. In the experiments, the proposed properties were verified using 1-DoF testbench, and an actual powered upper-limb exoskeleton was used to lift and maneuver the unknown payload.

Item URL in elib:https://elib.dlr.de/132046/
Document Type:Article
Title:A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Lee, WoongyongPOSTECHUNSPECIFIED
Choi, JaeyeonKIROUNSPECIFIED
Chung, GoobongKIROUNSPECIFIED
Han, Kyung-Lyong HanPOSCOUNSPECIFIED
Choi, Il SeopPOSCOUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Chung, Wan KyunPOSTECHUNSPECIFIED
Date:August 2019
Journal or Publication Title:IEEE-ASME Transactions on Mechatronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1083-4435
Status:Published
Keywords:Passivity-based control, Admittance control, Exoskeleton, Powered upper limb
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Kim, MinJun
Deposited On:13 Dec 2019 10:07
Last Modified:13 Dec 2019 10:07

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