Smart Exercise Adaptive Control of a Three Degree of Freedom Upper-limb Manipulator Robot
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Date
2021-09-15
Authors
Sen, Aastav Sasha
Journal Title
Journal ISSN
Volume Title
Publisher
University of Waterloo
Abstract
An adaptive velocity field controller for robotic manipulators is proposed in this thesis. The control objective is to cause the user to exercise in a manner that optimizes a criterion related to the user’s mechanical power. The control structure allows for passive user-manipulator physical interaction while the adaptive algorithm identifies the user’s biomechanical characteristics as a linear Hill based force-velocity curve defined at each pose of a repetitive exercise motion i.e. a Hill surface. The study of such a surface allows for the characterization of maximal effort exercise tasks and subsequently the control of exercises that is unique to each user. This allows for the intelligent characterization of a user’s abilities such that repetitive exercises defined by velocity fields can be safely performed. Such a study involving a 3DOF manipulator operating in full 3D has not been conducted in literature to the best of author’s knowledge. The proposed control structure is verified through experimentation on a unimanual setup of the BURT rehabilitation manipulator system involving a single user. The manipulator system includes friction, actuator/sensor noise, and unmodelled dynamics.
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Keywords
rehabilitation, manipulator, passivity, exercise, Hill curve, repetitive control, adaptive control, experiment, Smart Exercise Machines, Passive Velocity Field Control, pHRI