Force-Position Control for Upper Limb Exoskeleton Based on Muscle Model with Compensation

被引：0
|
作者：
Lin, Min [1 ]
Wang, Haoping [1 ]
Tian, Yang [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sino French Int Joint Lab Automat Control & Signa, Sch Automat, Nanjing, Jiangsu, Peoples R China
来源：
2018 27TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN 2018) | 2018年
基金：
对外科技合作项目（国际科技项目）; 中国国家自然科学基金;
关键词：
SIMULATION; ROBOT; EMG;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper investigates a force-position controller using neural network model free control with time-delay estimation(TDE-MFNNC) for the motion of the upper limb exoskeleton. The system establishes the muscle force prediction model based on the scaling principle of Hill model to estimate the torque provided by the upper limb. Then the upper limb exoskeleton is built in Solidworks as a virtual prototype which is used to instead the real exoskeleton model. We performed control stability to verify the effectiveness of the controller by comparing with TDE-iPD controller and with compensation the simulation result has a more satisfactory tracking performance.
引用
收藏
页码：740 / 745
页数：6
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