Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Ajani, Oladayo S.; Assal, Samy F. M.

doi:10.1177/0954406220984821

Cited by 9 publications

(6 citation statements)

References 33 publications

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“…Different impedance control techniques can be used for humanrobot interaction. [30][31][32] One of them is the hybrid impedance control which combines two of these techniques into a single framework. 6 The robotic device and the patient can interact safely by adjusting the controller's mechanical impedance settings while following the predefined trajectories.…”

Section: Device Controller Designmentioning

confidence: 99%

Design and hybrid impedance control of a new compliant wrist rehabilitation device

Yellewa

Mohammed

Ishii

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Over a decade, wrist rehabilitation robots have been proved to be efficient in the rehabilitation of patients with stroke or wrist injuries. Wrist rehabilitation devices compensate for deficiencies in manual rehabilitation training and reduce the workload of physiotherapists with their repetitive and gradual training necessary to rehabilitate patients with wrist impairments properly. Two design approaches have been reported in literature for wrist rehabilitation robotic devices. In one design approach, the strategy of placing the actuators, either linear or rotary, on the forearm to minimise the weight and inertia has been proposed. This necessitates a use of sophisticated transmission systems. In the other design approach, rotary motors have been proposed to be placed directly on the wrist joints, which results in a high weight and inertia. In this paper, a new 2-DOF compliant wrist rehabilitation device that can achieve the flexion-extension and radial-ulnar rehabilitation movements compliantly is proposed. In the proposed design, two series elastic actuators (SEAs), each consists of a servomotor and a custom-designed series elastic unit, are proposed to be placed directly on the wrist joints. In order to minimise the inertia and the required torques, the device is counterweight balanced by optimising the centre of mass of the device in the SolidWorks model. Based on the device dynamics modelled by ADAMS software, hybrid position and force tracking impedance control with the incorporation of a disturbance observer controller for the rotary SEA is developed for position and force tracking through the different therapeutic exercises. The disturbance observer controller is incorporated for high precision force control and robustness against exogenous disturbances. Simulation results demonstrate high performance of the proposed wrist rehabilitation device in terms of precise position and force trajectories tracking and robustness against exogenous disturbance as well as patient safety during all therapeutic exercises.

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Section: Device Controller Designmentioning

confidence: 99%

Design and hybrid impedance control of a new compliant wrist rehabilitation device

Yellewa

Mohammed

Ishii

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Much is made of autonomous systems to assist disabled (and in our case, young) people in their personal and public lives (e.g. Buhler 1995, Foresi 2018, Ajani 2021, Ajani 2020, Chivarov 2020. While disabled young people are categorised as key users of autonomous systems, they rarely are invited as co-designers.…”

Section: Introductionmentioning

confidence: 99%

Trustworthy Autonomous Systems and Disabled Young People: A Critical Literature Review

White¹,

Picardi²,

Paterson³

et al. 2023

Preprint

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Autonomous robotic and AI assistive systems are becoming increasingly prevalent in public and private spheres—often heralded as having the potential to revolutionise the everyday lives of disabled people. The reality could not be more different: disabled young people are routinely excluded from such spheres and, significantly, from the recent efforts to ensure that autonomous systems are trustworthy. Our critical literature review explores how trustworthy autonomous systems (TAS) can be framed within a critical disability studies perspective. We introduce the field of TAS and explore the interdisciplinary field of critical disability studies. This brings us to a key question: how is disability conceptualised, methodologically explored and represented in the TAS literature? We address this question by considering the ways in which disability and TAS have hitherto connected in the literature. We conclude with suggestions for future research and innovation that place disabled young people at the core of research and innovation in TAS.

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“…The combination of an adaptive Kalman filter with variable time intervals and a calibration method, proposed in reference [18], helps in estimating force and torque in the absence of force/torque sensors. It has been proven that with unknown environmental information, variable impedance control is more effective than constant impedance control [19][20][21][22][23] because constant impedance control is difficult to achieve for tasks in complex environments, and it is challenging to accurately measure impedance information. For example, challenges arise in accurately acquiring the reference trajectory of the end effector, as well as in determining the position and stiffness of the environment in practical scenarios.…”

Section: Introductionmentioning

confidence: 99%

Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control

Kong

Huang

2023

Actuators

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Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant impedance control is not capable of handling the task. To address this, this paper proposes a variable universe fuzzy model reference adaptive impedance control method that achieves effective force tracking even in the presence of unknown environmental information. A variable universe fuzzy controller was employed to determine the impedance parameters. The force tracking error and its rate of change were used as two input parameters for the variable universe fuzzy controller, which utilizes fuzzy inference to obtain the incremental values of the impedance parameters. For the introduced model reference controller, a novel adaptive law was employed to obtain the coefficients for contact force and torque. Subsequently, the contact force of the manipulator in Cartesian space was taken as the research object, and a simulation model of a six-joint manipulator was established in MATLAB/Simulink. By comparing it with the constant impedance control method, the feasibility and effectiveness of this control approach were validated.

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Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Cited by 9 publications

References 33 publications

Design and hybrid impedance control of a new compliant wrist rehabilitation device

Design and hybrid impedance control of a new compliant wrist rehabilitation device

Trustworthy Autonomous Systems and Disabled Young People: A Critical Literature Review

Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control

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