Flexible Exoskeleton Control Based on Binding Alignment Strategy and Full-arm Coordination Mechanism
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arXiv
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| Autori principali: | , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866916639882084352 |
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| author | Cheng, Chuang Zhang, Xinglong Chen, Xieyuanli Dai, Wei Chen, Longwen Zhang, Daoxun Zhang, Hui Jiang, Jie Lu, Huimin |
| author_facet | Cheng, Chuang Zhang, Xinglong Chen, Xieyuanli Dai, Wei Chen, Longwen Zhang, Daoxun Zhang, Hui Jiang, Jie Lu, Huimin |
| contents | In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the binding attachments will affect the flexibility and comfort of the exoskeletons, especially during high-speed movement. To address this challenge, this paper presents a flexible exoskeleton control approach with binding alignment and full-arm coordination. Firstly, the sources of the force interaction caused by donning offsets are analyzed, based on which the interactive force data is classified into the major, assistant, coordination, and redundant component categories. Then, a binding alignment strategy (BAS) is proposed to reduce the donning disturbances by combining different force data. Furthermore, we propose a full-arm coordination mechanism (FCM) that focuses on two modes of arm movement intent, joint-oriented and target-oriented, to improve the flexible performance of the whole exoskeleton control during high-speed motion. In this method, we propose an algorithm to distinguish the two intentions to resolve the conflict issue of the force component. Finally, a series of experiments covering various aspects of exoskeleton performance (flexibility, adaptability, accuracy, speed, and fatigue) were conducted to demonstrate the benefits of our control framework in our full-arm exoskeleton. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_01338 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Flexible Exoskeleton Control Based on Binding Alignment Strategy and Full-arm Coordination Mechanism Cheng, Chuang Zhang, Xinglong Chen, Xieyuanli Dai, Wei Chen, Longwen Zhang, Daoxun Zhang, Hui Jiang, Jie Lu, Huimin Robotics In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the binding attachments will affect the flexibility and comfort of the exoskeletons, especially during high-speed movement. To address this challenge, this paper presents a flexible exoskeleton control approach with binding alignment and full-arm coordination. Firstly, the sources of the force interaction caused by donning offsets are analyzed, based on which the interactive force data is classified into the major, assistant, coordination, and redundant component categories. Then, a binding alignment strategy (BAS) is proposed to reduce the donning disturbances by combining different force data. Furthermore, we propose a full-arm coordination mechanism (FCM) that focuses on two modes of arm movement intent, joint-oriented and target-oriented, to improve the flexible performance of the whole exoskeleton control during high-speed motion. In this method, we propose an algorithm to distinguish the two intentions to resolve the conflict issue of the force component. Finally, a series of experiments covering various aspects of exoskeleton performance (flexibility, adaptability, accuracy, speed, and fatigue) were conducted to demonstrate the benefits of our control framework in our full-arm exoskeleton. |
| title | Flexible Exoskeleton Control Based on Binding Alignment Strategy and Full-arm Coordination Mechanism |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.01338 |