Name
Abstract | ||
|---|---|---|
Exoskeletons for human performance augmentation have been widely applied in many environments, ranging from military, industry, to construction. For load-carrying augmentation exoskeletons, one of the key issues is to control the human-robot interaction (HRI) force. This paper firstly proposes a unified framework for scale force control (SFC) of human-bearing augmentation exoskeleton (HBAE) and robot-bearing augmentation exoskeleton (RBAE). Furthermore, a mid-level SFC method was proposed, in the light of both cognitive and physical HRIs (cHRI and pHRI). On this basis, a hybrid low-level controller was designed for load-carrying exoskeletons (LCEs). Finally, the proposed method was simulated on an LCE. The simulation results demonstrate the effectiveness of our SFC approach: the pilot is always provided with an arbitrary scaled-down interaction force, regardless of the load state. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1007/s10846-022-01611-6 | Journal of Intelligent & Robotic Systems |
Keywords | DocType | Volume |
Scale force control (SFC), Augmentation exoskeleton, Load-carrying exoskeleton (LCE), Hybrid control | Journal | 106 |
Issue | ISSN | Citations |
1 | 0921-0296 | 0 |
PageRank | References | Authors |
0.34 | 8 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lang Lin | 1 | 0 | 0.34 |
| Xiao Junhao | 2 | 0 | 0.34 |
| Sun Yunshu | 3 | 0 | 0.34 |
| Lu Huimin | 4 | 0 | 0.68 |
| Zongtan Zhou | 5 | 412 | 33.89 |
| Yang Chunbaixue | 6 | 0 | 0.34 |