可变阻抗控制让机器人假肢更好适应走路时的干扰
Variable Impedance Control for Floating-Base Supernumerary Robotic Leg in Walking Assistance
- 设计混合位置/力阻抗控制器，动态调节刚柔特性
- 实时生成稳定参数，实现柔性过渡与强支撑切换
- 适合需要安全人机交互的助行机器人场景
在人机系统中，应对内外部扰动下的力控安全性至关重要。作为典型的松耦合浮地机器人系统，附加机器人腿（SRL）易受强烈内部扰动影响。为此，本文研究了松耦合SRL的动力学模型，设计了适配动态转矩输入的混合位置/力阻抗控制器。提出一种高效可变阻抗控制（VIC）方法，以增强人机交互性能，尤其在外部力扰动下表现优异。通过动态调整阻抗参数，实现了刚柔状态间的快速切换，可自适应未知环境扰动。特别设计了实时稳定性保障的阻抗参数生成网络，用于实现冲击缓冲与高刚性支撑。仿真与实验验证了系统有效性，表明其在柔性状态下保持平滑信号过渡，刚性状态下提供强支撑力。该方法为个体步态差异提供了实用解决方案，显著提升了人机系统的安全性和适应性。
原文摘要 · Abstract (English)
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is particularly susceptible to strong internal disturbances. To address the challenge posed by floating base, we investigated the dynamics model of the loosely coupled SRL and designed a hybrid position/force impedance controller to fit dynamic torque input. An efficient variable impedance control (VIC) method is developed to enhance human-robot interaction, particularly in scenarios involving external force disturbances. By dynamically adjusting impedance parameters, VIC improves the dynamic switching between rigidity and flexibility, so that it can adapt to unknown environmental disturbances in different states. An efficient real-time stability guaranteed impedance parameters generating network is specifically designed for the proposed SRL, to achieve shock mitigation and high rigidity supporting. Simulations and experiments validate the system's effectiveness, demonstrating its ability to maintain smooth signal transitions in flexible states while providing strong support forces in rigid states. This approach provides a practical solution for accommodating individual gait variations in interaction, and significantly advances the safety and adaptability of human-robot systems.
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