HUMAN MUSCULAR STRENGTH AMPLIFICATION ROBOT DRIVEN BY INTENTION OF USER AND DRIVING METHOD THEREOF

摘要

A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.

主权项

1. A muscular strength enhancing robot to be driven based on an intention of a user, the robot comprising:
an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength in a movement direction in which the portion moves; an encoder connected to the actuator and configured to measure an actual velocity vr at which the actuator moves in the movement direction; a force or torque sensor configured to measure an intensity of a force fh to be applied in the movement direction; an admittance modeling module configured to calculate a target velocity vd using the intensity of the force fh measured by the force and torque sensor; a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference ve between the target velocity vd calculated by the admittance modeling module and the actual velocity vr measured by the encoder, control the actuation of the actuator by a cumulative value of the velocity difference ve, and control the actuation of the actuator by a difference between a previous velocity difference ve and a current velocity difference ve; an input energy calculating module configured to calculate a current input energy Ein(k) of the robot; an output energy calculating module configured to calculate a current output energy Eout(k) of the robot; and a passivity control module configured to determine stability of a system of the robot by comparing the calculated current input energy Ein(k) to the calculated current output energy Eout(k), and calculate a damping element β and apply the calculated damping element β to the actuator in response to a determination that the system is unstable.