Quasi-Static Model-based Control of Human-Soft-Robot Interaction for Assisted Hand Motion

摘要

This paper presents quasi-static model-based control algorithms for controlling motion and force applied to the human hand by a soft robotic exoskeleton for physical assist and rehabilitation. Although soft robotics has shown promising for safe interaction with human body and reducing complexity in mechanisms for wearable medical and industrial applications; dynamics and control of physical interactions between the user and a soft wearable robot is still a challenge. A quasi-static model and the corresponding forward and inverse formulations were developed for modeling the physical interaction between the human finger and wearable soft robotic digits. A controller was derived for the joint position and interaction force control that determines the actuation pressure at each soft joint section of the robotic digit. The analytical model and controller were examined through simulation for tracking the desired joint trajectories and applying the interaction forces. The results showed the effectiveness of the model based control approach.