TY - GEN
T1 - Admittance Control of Wearable Robotic Brace for Dynamic Trunk Support
AU - Guo, Xingzhao
AU - Zhou, Zhihao
AU - Wang, Qining
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper presents a robotic trunk support system applying admittance control to assist trunk support and train the trunk core muscle groups. There are three degrees of freedom in the coronal plane, which allows lateral bending. The robotic trunk support system is designed based on a planer parallel manipulator. Position control makes the robot less flexible, and force control hardly maintains the position and orientation. The proposed admittance controller can improve the compliance of the robot and maintain the thorax at desired equilibrium. The experiments are conducted to evaluate the performance of the controller and the effect on the human body. The results demonstrate that the proposed wearable robotic brace can intervene in the activities of trunk core muscle groups and maintain trunk posture, which shows potential advantages in trunk support and rehabilitation.
AB - This paper presents a robotic trunk support system applying admittance control to assist trunk support and train the trunk core muscle groups. There are three degrees of freedom in the coronal plane, which allows lateral bending. The robotic trunk support system is designed based on a planer parallel manipulator. Position control makes the robot less flexible, and force control hardly maintains the position and orientation. The proposed admittance controller can improve the compliance of the robot and maintain the thorax at desired equilibrium. The experiments are conducted to evaluate the performance of the controller and the effect on the human body. The results demonstrate that the proposed wearable robotic brace can intervene in the activities of trunk core muscle groups and maintain trunk posture, which shows potential advantages in trunk support and rehabilitation.
UR - https://www.scopus.com/pages/publications/85141874910
U2 - 10.1109/BioRob52689.2022.9925355
DO - 10.1109/BioRob52689.2022.9925355
M3 - 会议稿件
AN - SCOPUS:85141874910
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
BT - BioRob 2022 - 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
PB - IEEE Computer Society
T2 - 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022
Y2 - 21 August 2022 through 24 August 2022
ER -