Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations

Abstract

In this paper, two upper limbs of an exoskeleton robot are operated within a constrained region of the operational space with unidentified intention of the human operator’s motion as well as uncertain dynamics including physical limits. The new human-cooperative strategies are developed to detect the human subject’s movement efforts in order to make the robot behavior flexible and adaptive. The motion intention extracted from the measurement of the subject’s muscular effort in terms of the applied forces/torques can be represented to derive the reference trajectory of his/her limb using a viable impedance model. Then, adaptive online estimation for impedance parameters is employed to deal with the nonlinear and variable stiffness property of the limb model. In order for the robot to follow a specific impedance target, we integrate the motion intention estimation into a barrier Lyapunov function based adaptive impedance control. Experiments have been carried out to verify the effectiveness of the proposed dual-arm coordination control scheme, in terms of desired motion and force tracking

Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries

“…Furthermore, humanrobot physical interaction in the surgical environment will be implemented to assist the motion of the surgeon. (35)…”

“…The aim of our research is to simulate a programmable RCM in a scenario close to the clinical scenario by implementing bimanual control (15,16) with two asymmetric KUKA LWR4+ robotic manipulators for MIS and utilizing an RBFNN to compensate for the disturbance from the respiratory movement. An evaluation is performed on surgically relevant trajectories for intraoperative suturing and knot tying.…”

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

“…The operation of this device is based on a muscular signal generated from the human-machine interface (bioport) using electromyography (EMG). Similarly, Zhijun et al proposed an asymmetric bimanual coordinate control for the dual-arm exoskeleton to perform human-cooperative manipulation [31]. The contribution of the work focused on handling physical constraints such as joint limits and torque limits via the use of human motion intention reflected during interaction and the use of impedance parameters approximation for estimating variable stiffness which measures the force and position of the dual-arm end-effector.…”

Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time‐Varying Output Constraint

“…In [42], an asymmetric bimanual coordinate control based on a novel BLF with the position and velocity constraints in tasks is developed, which can be used to make the robot behavior adaptive and flexible to detect human operator motion. In [11], time-varying constraints are considered, and an adaptive neural network control of robot manipulators is designed to satisfy the tracking performance.…”