Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

P.G. Van Lenthe; S. Verros; E.E.G. Hekman; Raffaella  Carloni; H.F.J.M. Koopman

doi:10.1109/ICRA.2018.8461062

Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

P.G. Van Lenthe, S. Verros, E.E.G. Hekman, Raffaella Carloni, H.F.J.M. Koopman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

2 Downloads (Pure)

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 language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
ISBN (Electronic)	978-1-5386-3081-5
ISBN (Print)	978-1-5386-3082-2
DOIs	https://doi.org/10.1109/ICRA.2018.8461062
Publication status	Published - 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018 https://icra2018.org/

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated title	ICRA
Country	Australia
City	Brisbane
Period	21/05/18 → 25/05/18
Internet address	https://icra2018.org/

Keywords

Biomechatronics

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10.1109/ICRA.2018.8461062

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",

note = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018, ICRA ; Conference date: 21-05-2018 Through 25-05-2018",

url = "https://icra2018.org/",

}

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 proceeding › Conference contribution › Academic › peer-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.

PY - 2018

Y1 - 2018

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

U2 - 10.1109/ICRA.2018.8461062

DO - 10.1109/ICRA.2018.8461062

M3 - Conference contribution

SN - 978-1-5386-3082-2

BT - 2018 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

Y2 - 21 May 2018 through 25 May 2018

ER -

Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

Abstract

Conference

Keywords

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