Comparing continuous and intermittent assistance controllers for assistive devices

Morbi, Aliasgar; Ahmadi, Mojtaba; Chan, Adrian D. C.; Langlois, Robert

doi:10.1109/icra.2011.5979603

Cited by 5 publications

(7 citation statements)

References 17 publications

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“…As this brief focuses on the coupled stability of the ARC and ALPDC, the reader is referred to [16] for experimental results that demonstrate how the ARC can simultaneously encourage user effort and facilitate task completion. The experiments presented below focus on a fundamental question that remained unanswered in [16]-how can we guarantee that that ARC will remain stable for all arbitrary motions that a user performs with the PO?…”

Section: Experimental Verification Of the Alpdcmentioning

confidence: 99%

“…We proposed in [16], that an admittance-controlled PO can simultaneously facilitate task completion and encourage user effort if the feedforward compensator τ f f is defined as follows:…”

Section: A Assistance Regulationmentioning

confidence: 99%

“…In addition to modulating assistance according to the user's need [16], PO controllers must also guarantee the stability of the user-device interaction. As POs are physically coupled to an individual, erratic and unpredictable PO motions can cause serious injuries, such as joint hyperextension, soft tissue injuries, or injuries because of collisions with the environment.…”

Section: Introductionmentioning

confidence: 99%

“…Our preliminary work [16] addressed the question of designing an appropriate assist-as-needed controller suitable for POs. That work led to the development of the assistance regulation controller (ARC), a nonlinear admittance controller that simultaneously facilitates task completion and encourages user effort.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Stability-Guaranteed Assist-as-Needed Controller for Powered Orthoses

Morbi

Ahmadi

Chan

et al. 2014

IEEE Trans. Contr. Syst. Technol.

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This brief describes the assistance regulation controller (ARC), a nonlinear admittance controller for powered orthoses (POs) and wearable robotics that simultaneously facilitates task completion and encourages user effort. This brief also introduces a novel acceleration-limited proportional derivative controller (ALPDC) that guarantees the stability of the ARC's inner position control loop. The stability analysis of the ALPDC shows that this simple and robust position controller promotes safer human-robot interactions in a large class of admittancecontrolled haptic devices. Both the ARC and ALPDC are implemented on a one-degree-of-freedom PO designed to assist forearm flexion and extension. Experiments performed by a healthy male subject confirm that the ALPDC guarantees stable user-device interactions and bounded tracking errors during highly dynamic forearm motions that lead to instability with a conventional controller.

show abstract

Section: Experimental Verification Of the Alpdcmentioning

confidence: 99%

“…We proposed in [16], that an admittance-controlled PO can simultaneously facilitate task completion and encourage user effort if the feedforward compensator τ f f is defined as follows:…”

Section: A Assistance Regulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Stability-Guaranteed Assist-as-Needed Controller for Powered Orthoses

Morbi

Ahmadi

Chan

et al. 2014

IEEE Trans. Contr. Syst. Technol.

Self Cite

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show abstract

“…Research to estimate the user's motion using a pressure sensor or EMG sensor, and to assist motion by amplifying and assisting power has previously been carried out[1]- [9]. Morbi et al [10] have amplified the value of a pressure sensor when a wearing person moves, applying a gain. In addition, Weiguang et al [11] have selected the operation of four patterns beforehand, and have changed the motion of the device based on the value of the pressure sensor.…”

Section: Introductionmentioning

confidence: 99%

Driving force assistance control for wheelchair operation using an exoskeletal robot

Mizutani

Matsui

Yano

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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Cervical Cord Injury(CCI) causes a form of upper limb dysfunction. In an individual with C5-level CCI, which is the most frequent of all eight types of CCI, force can be applied in the direction of flexion by the biceps brachii, while extension force cannot be applied by the triceps brachii. Without the ability of the triceps brachii to exert this force, individuals with a C5-level CCI cannot propel a wheelchair along a carpet or sloping road. In this study, we developed a driving force assistance control system for wheelchair operation using an exoskeletal robot. We first analyzed the difference between the wheelchair operations of a healthy person and a C5-level CCI. We then designed a control model that included a user and a wheelchair. The wearer's arm was modeled as a two-link manipulator, and the extension force and hand position were estimated using the equation of motion. The estimated extension force was compared with the driving force required to operate a wheelchair with the target velocity defined at the time of flexion of an arm. We then applied the proposed method via an exoskeletal robot. The effectiveness of the proposed method is demonstrated by experimental of wheelchair operation with C5-level CCI.

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Design of a new hybrid control and knee orthosis for human walking and rehabilitation

Huang

Cheng

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Comparing continuous and intermittent assistance controllers for assistive devices

Cited by 5 publications

References 17 publications

Stability-Guaranteed Assist-as-Needed Controller for Powered Orthoses

Stability-Guaranteed Assist-as-Needed Controller for Powered Orthoses

Driving force assistance control for wheelchair operation using an exoskeletal robot

Design of a new hybrid control and knee orthosis for human walking and rehabilitation

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