A generalized control framework of assistive controllers and its application to lower limb exoskeletons
Résumé
Various control methods have been studied for the natural assistance of human motions by exoskeletal robots, i.e., wearable robots for assisting the human motions. For example, impedance control and compliance control are widely used for controlling interaction forces between a human and a robot. When an accurate measurement of the human muscular force is available (e.g., electromyography), a direct use of the estimated human joint torque is possible in the control of an assistive robot. The human motions in a daily living, however, are so complex that they are constituted by multiple phases, such as walking, sitting, and standing, where the walking can be further categorized into multiple sub-phases. Therefore, a single control method cannot be the best option for all the motion phases; a switch in the control algorithms may be necessary for assisting human movements in multiple motion phases. In this paper, a generalized control framework is proposed to incorporate the various assistive control methods in one general controller structure, which consists of Feedforward Disturbance Compensation Control, Reference Tracking Feedback Control, Reference Tracking Feedforward Control, Model-based Torque Control. The proposed control framework is designed taking into consideration of the linearity of each control algorithm, and thus it enables the continuous and smooth switching of assistive control algorithms, and makes it possible to analyze the stability of the overall control loop. The proposed method is implemented into a lower-limb exoskeleton robot and is verified by experimental results.