Interaction Control for Human-Exoskeletons

摘要

In this work, a general concept of the human-exoskeleton compatibility and interaction control is addressed. Rehabilitation, as applied to humans with motor control disorder, involves repetitive gait training in relation to lower limb extremity and repetitive task training in relation to upper limb extremity. It is in this regard that exoskeletal systems must be kinematically compatible with those of the subject in order to guarantee that the subject is being trained properly. The incompatibility between the wearable robotic device and the wearer results in joint misalignment, thus introducing interaction forces during movement. This, therefore, leads to the introduction of the need for interaction control in wearable robotic devices. Human-exoskeleton joint alignment is an uphill task; hence, measures to actualize this in order to guarantee the safety and comfort of humans are necessary. These measures depend on the types of joints involved in the rehabilitation or assistive process. Hence, several upper and lower extremity exoskeletons with concepts relating to interaction forces reduction are reviewed. The significant distinction in the modelling strategy of lower and upper limb exoskeletons is highlighted. Limitations of certain exoskeletal systems which may not allow the application of interaction control are also discussed.