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Estimation of Desired Motion Intention and compliance control for upper limb assist exoskeleton

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  • Robot and Applications
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Abstract

In this paper, we have addressed two issues for upper limb assist exoskeleton. 1) Estimation of Desired Motion Intention (DMI); 2) Robust compliance control. To estimate DMI, we have employed Extreme Learning Machine Algorithm. This algorithm is free from traditional Neural Network based problems such as local minima, selection of suitable parameters, slow convergence of adaptation law and over-fitting. These problems cause lot of problem in tuning the intelligent algorithm for the desired results. Furthermore, to track the estimated trajectory, we have developed model reference based adaptive impedance control algorithm. This control algorithm is based on stable poles of desired impedance model, forcing the over all system to act as per desired impedance model. It also considers robot and human model uncertainties. To highlight the effectiveness of the proposed control algorithm, we have compared it with simple impedance and target reference based impedance control algorithms. Experimental evaluation is carried on seven degree of freedom upper limb assist exoskeleton. Results describe the effectiveness of ELM algorithm for DMI estimation and robust tracking of the estimated trajectory by the proposed model reference adaptive impedance control law.

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Author information

Authors and Affiliations

  1. Department of Robot Engineering, Hanyang University, Sa-3-dong, Ansan, Gyeonggi-do, 15588, Korea

    Abdul Manan Khan & Deok-won Yun

  2. Department of Mechatronics Engineering, Hanyang University, Sa-3 dong, Ansan, Korea

    Khalil Muhammad Zuhaib & Junaid Iqbal

  3. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

    Rui-Jun Yan

  4. Department of Physiotherapy, CMH Lahore, Lahore, Pakistan

    Fatima Khan

  5. Department of Robot Engineering, Hanyang University, Sa-3 dong, Ansan, Korea

    Changsoo Han

Authors
  1. Abdul Manan Khan
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  2. Deok-won Yun
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  3. Khalil Muhammad Zuhaib
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  4. Junaid Iqbal
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  5. Rui-Jun Yan
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  6. Fatima Khan
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Corresponding author

Correspondence to Changsoo Han.

Additional information

Recommended by Editor-in-Chief Young Hoon Joo. This research was supported by the Ministry of Trade, Industry, and Energy, Korea, under the Industrial Foundation Technology Development Program supervised by the Korea Evaluation Institute of Industrial Technology (grant number 10041827, Development on S/W Robot Control for Fast Real-time, Flexible and Open Platform supporting 20 Khz control frequency and portability). Also, this research was supported by the Fire Fighting Safety & 119 Rescue Technology Research and Development Program funded by the Ministry of Public Safety and Security(“MPSS-2015-77”) and Duel-Use Technology Program of MOTIEIDAPA/CMTC [13-DU-MC-16, High speed lower-limb exoskeleton robot control at rough terrain].

Abdul Manan Khan received his B.Sc. and M.Sc. degrees in Mechatronics & Control Engineering from University of Engineering & Technology, Lahore, Pakistan, in 2007 and 2010, respectively, and his Ph.D. degree in Mechanical Design Engineering from Hanyang University, 2016, Korea. His research interests include robot dynamics, exoskeleton robots, multi-robot cooperation and trajectory planning. He has diverse experience working in a variety of projects including lower limb, upper limb assist exoskeleton robots, motion planning, multirobot coordination and vision based control. He has been teaching ROS Robotic Operating System (ROS) online and likes working with C++ & Python.

Deok-won Yun received his B.S. degree in Mechanical Engineering from Hanyang University in 2004, and his M.S. degree in Mechatronics Engineering from Hanyang University in 2006. He entered Ph.D. degree in Mechanical Engineering at Hanyang University in 2006. He worked in Sindoh from 2008 to 2011 for military service. He is currently pursuing his Ph.D. from the University. His research interests include assistive exoskeleton robots, lower-limb rehabilitation robots, multi-body dynamics and controls.

Khalil Muhammad Zuhaib received the B.E. degree in Electronics Engineering from Quaid-e-Awam University, Pakistan in 2009. He is current enrolled in MS-PhD in Mechatronics Engineering at Hanyang University, Korea. His current research interests include multi-robot motion planning and cooperative control. He is also interested to work on new ideas in this direction.

Junaid Iqbal received the B.E. degree in Mechanical Engineering from Quaid-e-Awam University, Pakistan in 2009. He worked for textile and pipe manufacturing industry from 2009 to 2010. Since 2010, he is lecturer in Mechanical Engineering Department, Quaid-e-Awam University College, Larkana, Pakistan. He is currently on study leave and pursuing MS-PhD in Mechatronics Engineering at Hanyang University, Korea. His research interests include advanced vehicle dynamics and control.

Rui-Jun Yan received the B.S. degree in Mechanical design, Manufacture and Automation Engineering from Harbin Institute of Technology, China, in 2010, and the Ph.D. degree in Mechatronics Engineering from Hanyang University, Korea, in 2015. He is currently a post-doctoral research fellow with the Robotics Research Centre, school of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore. His research interests include feature-based 2D simultaneous localization and mapping (SLAM), 3D mapping, feature extraction, data association, map representation, kinematics, dynamics and design of manipulators.

Fatima Khan received her Bachelor of Medicine and Bachelor in Surgery (MBBS) in 2014 from Combined Military Hospital Medical and Dental College, Lahore, Pakistan. Her research interests include Rehabilitation of quadriplegics, diaplegics and monoplegics using wearable & assist exoskeleton robots.

Changsoo Han received the B.S. degree in Mechanical Engineering from Hanyang University in 1983, and his M.S. and Ph.D. degrees in Mechanical Engineering from University of Texas at Austin, in 1985, 1989, respectively. From September 1984 to May 1985, he was a Teaching Assistant with CAD/CAM Lab in the department of engineering of the University of Texas at Austin. From October 1987 to April 1988, he was the consultant for a Lockheed MAC design project for the Lockheed Austin Division. From May 1988 to September 1989, he was a research assistant, Robotics Lab in mechanical engineering manufacturing of the high resolution micro manipulator. He stayed at University of California at Berkeley as a visiting professor from August 1996 to July 1997. In March 1990, he joined Hanyang University, Ansan, Korea as an assistant professor in the department of mechanical engineering. Currently, he is a Professor in the Department of Robot Engineering, Hanyang University. His research interests include intelligence service robot, high precision robotics and mechatronics, rehabilitation and biomechanics technology using robotics, automation in construction, advanced vehicle control and assistive exoskeleton robots.

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Khan, A.M., Yun, Dw., Zuhaib, K.M. et al. Estimation of Desired Motion Intention and compliance control for upper limb assist exoskeleton. Int. J. Control Autom. Syst. 15, 802–814 (2017). https://doi.org/10.1007/s12555-015-0151-7

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