基于绑定对齐策略和全臂协调机制的柔性外骨骼控制
Flexible Exoskeleton Control Based on Binding Alignment Strategy and Full-arm Coordination Mechanism
AI总结：
本文提出基于绑定对齐策略（BAS）和全臂协调机制（FCM）的柔性外骨骼控制方法，通过分析交互力分量并区分手臂运动意图，有效解决了穿戴偏移引起的干扰，显著提升了高速运动下的灵活性与舒适性。
摘要：
在康复、动力和遥操作外骨骼中，通过绑定附件将人体与外骨骼连接是常见配置。然而，绑定附件松紧度的不确定性及穿戴偏差会影响外骨骼的灵活性和舒适性，尤其是在高速运动期间。为了应对这一挑战，本文提出了一种基于绑定对齐和全臂协调的柔性外骨骼控制方法。首先，分析了由穿戴偏移引起的力交互来源，并据此将交互力数据分为主、辅、协调和冗余四个分量类别。然后，提出了绑定对齐策略（BAS），通过结合不同的力数据来减少穿戴干扰。此外，我们提出了全臂协调机制（FCM），该机制关注面向关节和面向目标这两种手臂运动意图模式，以提升高速运动时整个外骨骼控制的柔性表现。在该方法中，我们提出了一种区分这两种意图的算法，以解决力分量冲突问题。最后，进行了一系列涵盖外骨骼性能各个方面（灵活性、适应性、准确性、速度和疲劳度）的实验，以证明我们的控制框架在全臂外骨骼中的优势。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
