AEKF-based trajectory-error compensation of knee exoskeleton for human–exoskeleton interaction control
Robotic Intelligence and Automation
ISSN: 2754-6969
Article publication date: 11 January 2024
Issue publication date: 29 March 2024
Abstract
Purpose
The purpose of this paper is to design a new trajectory error compensation method to improve the trajectory tracking performance and compliance of the knee exoskeleton in human–exoskeleton interaction motion.
Design/methodology/approach
A trajectory error compensation method based on admittance-extended Kalman filter (AEKF) error fusion for human–exoskeleton interaction control. The admittance controller is used to calculate the trajectory error adjustment through the feedback human–exoskeleton interaction force, and the actual trajectory error is obtained through the encoder feedback of exoskeleton and the designed trajectory. By using the fusion and prediction characteristics of EKF, the calculated trajectory error adjustment and the actual error are fused to obtain a new trajectory error compensation, which is feedback to the knee exoskeleton controller. This method is designed to be capable of improving the trajectory tracking performance of the knee exoskeleton and enhancing the compliance of knee exoskeleton interaction.
Findings
Six volunteers conducted comparative experiments on four different motion frequencies. The experimental results show that this method can effectively improve the trajectory tracking performance and compliance of the knee exoskeleton in human–exoskeleton interaction.
Originality/value
The AEKF method first uses the data fusion idea to fuse the estimated error with measurement errors, obtaining more accurate trajectory error compensation for the knee exoskeleton motion control. This work provides great benefits for the trajectory tracking performance and compliance of lower limb exoskeletons in human–exoskeleton interaction movements.
Keywords
Acknowledgements
Funding: The financial support by the National Natural Science Foundation of China (52277061 and U1813212), in part by the Shenzhen Science and Technology Program under Grant JCYJ20220818095804009.
Citation
Zhang, Y., Cao, G., Li, L. and Diao, D. (2024), "AEKF-based trajectory-error compensation of knee exoskeleton for human–exoskeleton interaction control", Robotic Intelligence and Automation, Vol. 44 No. 1, pp. 84-95. https://doi.org/10.1108/RIA-04-2023-0058
Publisher
:Emerald Publishing Limited
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