Multi-Modal Learning and Relaxation of Physical Conflict for an Exoskeleton Robot with Proprioceptive Perception

摘要

Exoskeleton robots provide assistive forces to suit the human subject via physical human-robot interaction. During the closely-coupled interaction, a mismatch between the wearer and the robot may result in physical conflict, which could affect assistance efficiency or even compromise safety. Therefore, such conflicts should be accurately detected and then properly relaxed by adjusting the robot's action. This paper proposes a new learning scheme to detect physical conflicts between humans and robots. The constructed learning network receives multi-modal information from proprioceptive sensors and then outputs the anomaly score to specify the physical conflict, which score is further used to continuously adjust the robot impedance to ensure a safe and efficient interaction. Such a formulation allows the robot to explore the semantic information during the interaction (e.g., gait phases, imbalance, human fatigue) and hence react properly to the physical conflict. Experimental results and comparative studies on a lower-limb exoskeleton robot are presented to illustrate that the proposed learning scheme can deal with physical conflicts in a faster and more accurate manner.