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A Compliant Elbow Exoskeleton with an SEA at Interaction Port

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Neural Information Processing (ICONIP 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14450))

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Abstract

In recent years, various series elastic actuators (SEAs) have been proposed to enhance the flexibility and safety of wearable exoskeletons. This paper proposes an SEA composed of wave springs and installs it at human-robot interaction port. Considering the hysteresis nonlinear characteristics of the SEA, displacement-force models of the SEA are established based on long short-term memory (LSTM) model and T-S fuzzy model in a nonlinear auto-regression moving average with exogenous input (NARMAX) structure. Based on the established models, the SEA can effectively serve as an interaction force sensor. Subsequently, the SEA is integrated into an elbow exoskeleton, and a compliant admittance controller is designed based on the displacement-force model. Experimental results demonstrate that the proposed approach effectively enhances the flexibility of human-robot interaction.

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Acknowledgements

This work is supported by National Key Research & Development Program (Grant No. 2022YFB4703204) and National Natural Science Foundation of China (Grant Nos. 62025307 and 62311530097).

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Authors and Affiliations

  1. State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Xiuze Xia, Lijun Han, Houcheng Li, Yu Zhang, Zeyu Liu & Long Cheng

  2. School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China

    Xiuze Xia, Lijun Han, Houcheng Li, Yu Zhang, Zeyu Liu & Long Cheng

Authors
  1. Xiuze Xia
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  2. Lijun Han
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  3. Houcheng Li
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  4. Yu Zhang
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  5. Zeyu Liu
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  6. Long Cheng
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Corresponding author

Correspondence to Long Cheng .

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Editors and Affiliations

  1. Central South University, Changsha, China

    Biao Luo

  2. Chinese Academy of Sciences, Beijing, China

    Long Cheng

  3. Zhejiang University, Hangzhou, China

    Zheng-Guang Wu

  4. Guangdong University of Technology, Guangzhou, China

    Hongyi Li

  5. UNSW Sydney, Sydney, NSW, Australia

    Chaojie Li

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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Xia, X., Han, L., Li, H., Zhang, Y., Liu, Z., Cheng, L. (2024). A Compliant Elbow Exoskeleton with an SEA at Interaction Port. In: Luo, B., Cheng, L., Wu, ZG., Li, H., Li, C. (eds) Neural Information Processing. ICONIP 2023. Lecture Notes in Computer Science, vol 14450. Springer, Singapore. https://doi.org/10.1007/978-981-99-8070-3_12

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  • DOI: https://doi.org/10.1007/978-981-99-8070-3_12

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-8069-7

  • Online ISBN: 978-981-99-8070-3

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