Compliant-Control-Based Assisted Walking with Mobile Manipulator
In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admittance controller that can adaptively regulate the...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/9/2/104 |
| _version_ | 1797298858958520320 |
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| author | Weihua Li Pengpeng Li Lei Jin Rongrong Xu Junlong Guo Jianfeng Wang |
| author_facet | Weihua Li Pengpeng Li Lei Jin Rongrong Xu Junlong Guo Jianfeng Wang |
| author_sort | Weihua Li |
| collection | DOAJ |
| description | In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admittance controller that can adaptively regulate the virtual mass and damping parameters based on the interaction forces and the human motion intention predicted using the fuzzy theory. Moreover, a feedforward velocity compensator based on a designed state observer is proposed to decrease the inertia resistance of the manipulator, effectively enhancing the compliance of the human–robot interaction. Then, the configuration of the mobile manipulator is optimized based on a null-space approach by considering the singularity, force capacity, and deformation induced by gravity. Finally, the proposed assisted walking approach for the mobile manipulator is implemented using the human–robot interaction controller and the null-space controller. The validity of the proposed controllers and the feasibility of assisted human walking are verified by conducting a set of tests involving different human volunteers. |
| first_indexed | 2024-03-07T22:41:07Z |
| format | Article |
| id | doaj.art-ec7aa1819ae64dc689e8fbf469c050a6 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-07T22:41:07Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-ec7aa1819ae64dc689e8fbf469c050a62024-02-23T15:09:08ZengMDPI AGBiomimetics2313-76732024-02-019210410.3390/biomimetics9020104Compliant-Control-Based Assisted Walking with Mobile ManipulatorWeihua Li0Pengpeng Li1Lei Jin2Rongrong Xu3Junlong Guo4Jianfeng Wang5School of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, ChinaSchool of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, ChinaSchool of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, ChinaSchool of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, ChinaSchool of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, ChinaSchool of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, ChinaIn this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admittance controller that can adaptively regulate the virtual mass and damping parameters based on the interaction forces and the human motion intention predicted using the fuzzy theory. Moreover, a feedforward velocity compensator based on a designed state observer is proposed to decrease the inertia resistance of the manipulator, effectively enhancing the compliance of the human–robot interaction. Then, the configuration of the mobile manipulator is optimized based on a null-space approach by considering the singularity, force capacity, and deformation induced by gravity. Finally, the proposed assisted walking approach for the mobile manipulator is implemented using the human–robot interaction controller and the null-space controller. The validity of the proposed controllers and the feasibility of assisted human walking are verified by conducting a set of tests involving different human volunteers.https://www.mdpi.com/2313-7673/9/2/104compliant controlassisted walkingfuzzy theorymobile manipulator |
| spellingShingle | Weihua Li Pengpeng Li Lei Jin Rongrong Xu Junlong Guo Jianfeng Wang Compliant-Control-Based Assisted Walking with Mobile Manipulator Biomimetics compliant control assisted walking fuzzy theory mobile manipulator |
| title | Compliant-Control-Based Assisted Walking with Mobile Manipulator |
| title_full | Compliant-Control-Based Assisted Walking with Mobile Manipulator |
| title_fullStr | Compliant-Control-Based Assisted Walking with Mobile Manipulator |
| title_full_unstemmed | Compliant-Control-Based Assisted Walking with Mobile Manipulator |
| title_short | Compliant-Control-Based Assisted Walking with Mobile Manipulator |
| title_sort | compliant control based assisted walking with mobile manipulator |
| topic | compliant control assisted walking fuzzy theory mobile manipulator |
| url | https://www.mdpi.com/2313-7673/9/2/104 |
| work_keys_str_mv | AT weihuali compliantcontrolbasedassistedwalkingwithmobilemanipulator AT pengpengli compliantcontrolbasedassistedwalkingwithmobilemanipulator AT leijin compliantcontrolbasedassistedwalkingwithmobilemanipulator AT rongrongxu compliantcontrolbasedassistedwalkingwithmobilemanipulator AT junlongguo compliantcontrolbasedassistedwalkingwithmobilemanipulator AT jianfengwang compliantcontrolbasedassistedwalkingwithmobilemanipulator |