Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

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Abstract

Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance.
Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
ISBN (Electronic)978-1-5386-3081-5
ISBN (Print)978-1-5386-3082-2
DOIs
Publication statusPublished - 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated titleICRA
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

Fingerprint

Health care
Robots
Controllers
Experiments

Keywords

  • Biomechatronics

Cite this

@inproceedings{81440dc93ebb49e8a18f2f16b714bde1,
title = "Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton",
abstract = "Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance.",
keywords = "Biomechatronics",
author = "{Van Lenthe}, P.G. and S. Verros and E.E.G. Hekman and Raffaella Carloni and H.F.J.M. Koopman",
year = "2018",
doi = "10.1109/ICRA.2018.8461062",
language = "English",
isbn = "978-1-5386-3082-2",
booktitle = "2018 IEEE International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
address = "United States",

}

Van Lenthe, PG, Verros, S, Hekman, EEG, Carloni, R & Koopman, HFJM 2018, Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton. in 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8461062

Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton. / Van Lenthe, P.G.; Verros, S.; Hekman, E.E.G.; Carloni, Raffaella ; Koopman, H.F.J.M.

2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

TY - GEN

T1 - Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

AU - Van Lenthe, P.G.

AU - Verros, S.

AU - Hekman, E.E.G.

AU - Carloni, Raffaella

AU - Koopman, H.F.J.M.

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N2 - Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance.

AB - Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance.

KW - Biomechatronics

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DO - 10.1109/ICRA.2018.8461062

M3 - Conference contribution

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