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CLC number: TP242.3

On-line Access: 2014-04-10

Received: 2013-09-16

Revision Accepted: 2013-12-29

Crosschecked: 2014-03-17

Cited: 5

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Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE C 2014 Vol.15 No.4 P.275-283


Human-machine interaction force control: using a model-referenced adaptive impedance device to control an index finger exoskeleton

Author(s):  Qian Bi, Can-jun Yang

Affiliation(s):  State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   biqianmyself@zju.edu.cn, ycj@zju.edu.cn

Key Words:  Interaction force, Adaptive control, Exoskeleton, Human-machine interaction (HMI), Impedance

Qian Bi, Can-jun Yang. Human-machine interaction force control: using a model-referenced adaptive impedance device to control an index finger exoskeleton[J]. Journal of Zhejiang University Science C, 2014, 15(4): 275-283.

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author="Qian Bi, Can-jun Yang",
journal="Journal of Zhejiang University Science C",
publisher="Zhejiang University Press & Springer",

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%T Human-machine interaction force control: using a model-referenced adaptive impedance device to control an index finger exoskeleton
%A Qian Bi
%A Can-jun Yang
%J Journal of Zhejiang University SCIENCE C
%V 15
%N 4
%P 275-283
%@ 1869-1951
%D 2014
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1300259

T1 - Human-machine interaction force control: using a model-referenced adaptive impedance device to control an index finger exoskeleton
A1 - Qian Bi
A1 - Can-jun Yang
J0 - Journal of Zhejiang University Science C
VL - 15
IS - 4
SP - 275
EP - 283
%@ 1869-1951
Y1 - 2014
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.C1300259

exoskeleton robots and their control methods have been extensively developed to aid post-stroke rehabilitation. Most of the existing methods using linear controllers are designed for position control and are not suitable for human-machine interaction (HMI) force control, as the interaction system between the human body and exoskeleton is uncertain and nonlinear. We present an approach for HMI force control via model reference adaptive impedance control (MRAIC) to solve this problem in case of index finger exoskeleton control. First, a dynamic HMI model, which is based on a position control inner loop, is formulated. Second, the theoretical MRAC framework is implemented in the control system. Then, the adaptive controllers are designed according to the Lyapunov stability theory. To verify the performance of the proposed method, we compare it with a proportional-integral-derivative (PID) method in the time domain with real experiments and in the frequency domain with simulations. The results illustrate the effectiveness and robustness of the proposed method in solving the nonlinear HMI force control problem in hand exoskeleton.


重要结论:方波跟踪实验和正弦跟踪实验表明,与PID线性控制器相比,MRAIC控制器具有更好的稳定性,响应更快;频域仿真分析发现,MRAIC控制器在0.1~5 Hz频段具有较好品质,这与人体动作的常规频率范围相符。


Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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