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Design and Implementations of an Intelligent Control System for a Lower Limb Extremity Robot Based on Human-Robot Interaction and Muscular Activity to Reduce Human Energy Consumption

Talatian, Hamid Reza | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 53094 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vosoughi, Gholamreza; Jahed, Mehran
  7. Abstract:
  8. With advancements in control and robotics technology, wearable robots have gained multiple applications in rehabilitation and power augmentation. In robots developed for power augmentation purposes, human decisions are combined with robot power to enhance the human ability to perform various activities, such as carrying heavy loads and walking for a long time. In cases where robots are designed to help humans to carry heavy loads, the robot control strategy should minimize the human-robot interaction forces. In this case, heavy loads influence the robot and the user no longer need to use more energy than normal walking, and the robot works following human intentions. Where the robot works to reduce the rate of energy consumed by humans during walking, the human-robot interaction force shall be regulated so that energy is transferred from robot to human according to human intentions.Here, we design two control strategies for both power augmentation modes. The first strategy attempts to reduce the interaction force between humans and robots and the second strategy aims to calculate and apply the interaction force between humans and robots according to human intentions. To realize human intentions, we used the kinematic characteristics of the movement and the muscular activity of the user. When using kinematic characteristics of the movement, intermittent movement during walking was emphasized and movement patterns were learned by the robot using a set of adaptive oscillators. The human movement pattern in each cycle of movement was considered as the basis for predicting human intention in the next cycle. Thereby, the optimal path and interaction torque for the robot were calculated and applied to the robot by the internal control loop. Within this process, EMG signals are used to coordinate the interaction torque applied by the robot with human intention. This torque is constantly modified based on the EMG signals for each moment of the movement phase. Further, the performance of these control strategies was first simulated and eventually evaluated by implementing them in the experimental context. The results confirmed that control strategies adopted help to achieve predefined goals
  9. Keywords:
  10. Lower Limb Exoskeleton ; Interaction Force Control ; Power Augmentation ; Electromyography ; Adaptive Oscillator

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