Power Assist Control for Leg with HAL-3
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Power Assist Control for Leg with HAL-3 Based on Virtual Torque and Impedance Adjustment
s. Lee*, Y.s a * *
*DoctoraΒιβλιοθήκη Baidu Program of System and Information Engineering, University of Tsukuba,
02002 IEEE SMC "PlB3
backpack. A experimenter can adjust the experimental settings and monitor the operator’s condition constantly with palm-top computer through wireless LAN. Besides, HAL can recognize the operator’s condition from sensors installed on main body of HAL-3 for detecting the s-EMG, angle of joint, and foot-grounding and work automatically along to operator’s conditions. So HAL can be operated alone without external operational environment. Harmonic drive gear and DC servo motor (Maxon, 150W, 24V) are adopted as the actuators of HAL, which have sufficient motivity to support calculated-on the basis of the maximum torque in standing up motion and angular velocity in walking motion (Table
Abstmct- This paper describes a method of power assist control for lower body based on neuromuscular signa), s-EMG (surface ElectroMyogram/Myoelectricity) , and impedance adjustment around knee joint with the assist system, HAL (Hybrid Assistive Leg) -3 we have developed. Virtual Torque calculated by s-EMG enabled the H A L 3 t o be operated as to intention of the experimental subject put on HAL, and assist the motion of lower body by predicting the moment around joints. Besides, the operator was able to swing the leg lighter by reducing the inertia and viscous friction around joint of the subject and HAL-S. In order t o verify the proposed method, experiments for simple motion was performed with impedance values found by parameter identiflcation with FUS (Recursive Least Square) method. The evaluation of assisted motion was done by Assist EtRciency (AB)calculated from s-EMG in nearly proportion t o the operator's muscle force. The results showed the response of operational signal into actuator with impedance adjustment was improved dramatically, and the amplitudes of s-EMG were reduced signiflcantly, then we could conflrm the availability of impedance adjustment. Kegwonis- HAL-S, Virtual Torque, impedance adjustment, Assist EfRciency(AE).
Back Fnck
1. INTRODUCTION
Nursing care and rehabilitation are required to be improved in accordance with aging in several country. It is important to enable physically weak person i.e., the old and the disabled to take care of themselves in that society. From the point of view of locomotion, the spheres of the disabled person who have some disorders like as neuromuscular diseases, or the aged person who have muscular atrophy are restricted in spite of using wheelchair due to stairway or unlevel ground, and it is desirable for such people to walk by themselves with respect to their requirement to move, burden of caregiver, and effectiveness of rehabilitation. Nevertheless, only f w attempts e have been made at another device to assist the leg's movement for such people. By the way, recent progress of robotics technology brings a lot of benefits in many other fields like welfare, medicine as well as in the industry. In particular, integrating humans and robotic machine into one system offer the opportunities for creating new assistive technologies that can be used in such fields 111, [2]. W e have developed the sEMG based exoskeleton system for lower body, HAL in recent years
semora
Fig. 1. HAL (Hybrid kssistive Leg) -3
11. HAL (HYBRID ASSISTIVE LEG) -3
Fig. 1. shows the system overview of the exoskeleton type power assist system, HAL (Hybrid Assistive Leg) -3 we developed, and Fig. 2. indicates the system configuration [7]. All devices for control of HAL3 such as CPU board (PentiumII 566MHz, PCI665VRE) , mctor driver (TITECH Driver PC-0121-1, 750W, f 38V, *BA) , measuring unit, and power source (battery, actuator: 9V x 3, controller: 1OV x 1) are contained in
for the context as mentioned above (31, [4], [5], [SI. The power assist control of HAL has been performed wentially based on s-EMG (surface-ElectroMyogam, / Myoelectricity) of flexor and extensor muscle. HAL can cognize the operator's condition by the sensors, and enables the operator (experimental subject put on HAL) do a motion such as walking to be assisted by transferring the intention of operator to motivity of actuator through s-EMG. Our objective in this research is to realize the more effective assisted motion based on s-EMG with the impedance adjustment around knee joint. This paper describes the hardware configuration of HAL3 in Section 1 , the control method with s-EMG 1 and impedance adjustment based on estimated param1, eters in Section 1 1 the evaluation method derived from s-EMG and experimental results to verify the proposed approach in Section IV.
lee0golem.kz.tsukuba.ac.jp
** Institute of Systems and Engineering Mechanics,University of Tsukuba,
sankai0golem.kz.tsukuba.ac.jp
Tsukuba, Ibaraki, 305-8573, Japan
Diff’ntial
/Gbw
Amplifier
s-EMG Signal
Surface Electroda
Fig. 3. (a)The procedure to generate the myosignal (b)the relationship between s-EMGand muscle force
s. Lee*, Y.s a * *
*DoctoraΒιβλιοθήκη Baidu Program of System and Information Engineering, University of Tsukuba,
02002 IEEE SMC "PlB3
backpack. A experimenter can adjust the experimental settings and monitor the operator’s condition constantly with palm-top computer through wireless LAN. Besides, HAL can recognize the operator’s condition from sensors installed on main body of HAL-3 for detecting the s-EMG, angle of joint, and foot-grounding and work automatically along to operator’s conditions. So HAL can be operated alone without external operational environment. Harmonic drive gear and DC servo motor (Maxon, 150W, 24V) are adopted as the actuators of HAL, which have sufficient motivity to support calculated-on the basis of the maximum torque in standing up motion and angular velocity in walking motion (Table
Abstmct- This paper describes a method of power assist control for lower body based on neuromuscular signa), s-EMG (surface ElectroMyogram/Myoelectricity) , and impedance adjustment around knee joint with the assist system, HAL (Hybrid Assistive Leg) -3 we have developed. Virtual Torque calculated by s-EMG enabled the H A L 3 t o be operated as to intention of the experimental subject put on HAL, and assist the motion of lower body by predicting the moment around joints. Besides, the operator was able to swing the leg lighter by reducing the inertia and viscous friction around joint of the subject and HAL-S. In order t o verify the proposed method, experiments for simple motion was performed with impedance values found by parameter identiflcation with FUS (Recursive Least Square) method. The evaluation of assisted motion was done by Assist EtRciency (AB)calculated from s-EMG in nearly proportion t o the operator's muscle force. The results showed the response of operational signal into actuator with impedance adjustment was improved dramatically, and the amplitudes of s-EMG were reduced signiflcantly, then we could conflrm the availability of impedance adjustment. Kegwonis- HAL-S, Virtual Torque, impedance adjustment, Assist EfRciency(AE).
Back Fnck
1. INTRODUCTION
Nursing care and rehabilitation are required to be improved in accordance with aging in several country. It is important to enable physically weak person i.e., the old and the disabled to take care of themselves in that society. From the point of view of locomotion, the spheres of the disabled person who have some disorders like as neuromuscular diseases, or the aged person who have muscular atrophy are restricted in spite of using wheelchair due to stairway or unlevel ground, and it is desirable for such people to walk by themselves with respect to their requirement to move, burden of caregiver, and effectiveness of rehabilitation. Nevertheless, only f w attempts e have been made at another device to assist the leg's movement for such people. By the way, recent progress of robotics technology brings a lot of benefits in many other fields like welfare, medicine as well as in the industry. In particular, integrating humans and robotic machine into one system offer the opportunities for creating new assistive technologies that can be used in such fields 111, [2]. W e have developed the sEMG based exoskeleton system for lower body, HAL in recent years
semora
Fig. 1. HAL (Hybrid kssistive Leg) -3
11. HAL (HYBRID ASSISTIVE LEG) -3
Fig. 1. shows the system overview of the exoskeleton type power assist system, HAL (Hybrid Assistive Leg) -3 we developed, and Fig. 2. indicates the system configuration [7]. All devices for control of HAL3 such as CPU board (PentiumII 566MHz, PCI665VRE) , mctor driver (TITECH Driver PC-0121-1, 750W, f 38V, *BA) , measuring unit, and power source (battery, actuator: 9V x 3, controller: 1OV x 1) are contained in
for the context as mentioned above (31, [4], [5], [SI. The power assist control of HAL has been performed wentially based on s-EMG (surface-ElectroMyogam, / Myoelectricity) of flexor and extensor muscle. HAL can cognize the operator's condition by the sensors, and enables the operator (experimental subject put on HAL) do a motion such as walking to be assisted by transferring the intention of operator to motivity of actuator through s-EMG. Our objective in this research is to realize the more effective assisted motion based on s-EMG with the impedance adjustment around knee joint. This paper describes the hardware configuration of HAL3 in Section 1 , the control method with s-EMG 1 and impedance adjustment based on estimated param1, eters in Section 1 1 the evaluation method derived from s-EMG and experimental results to verify the proposed approach in Section IV.
lee0golem.kz.tsukuba.ac.jp
** Institute of Systems and Engineering Mechanics,University of Tsukuba,
sankai0golem.kz.tsukuba.ac.jp
Tsukuba, Ibaraki, 305-8573, Japan
Diff’ntial
/Gbw
Amplifier
s-EMG Signal
Surface Electroda
Fig. 3. (a)The procedure to generate the myosignal (b)the relationship between s-EMGand muscle force