Adaptive Impedance Control of a Human–Robotic System Based on Motion Intention Estimation and Output Constraints

摘要

The rehabilitation exoskeleton represents a typical human–robot system featuring complex nonlinear dynamics. This paper is devoted to proposing an adaptive impedance control strategy for a rehabilitation exoskelton. The patient’s motion intention is estimated online by the neural network (NN) to cope with the intervention of the patient’s subjective motor awareness in the late stage of rehabilitation training. Due to the differences in impedance parameters for training tasks in individual patients and periods, the least square method was used to learn the impedance parameters of the patient. Considering the uncertainties of the exoskeleton and the safety of rehabilitation training, an adaptive neural network impedance controller with output constraints was designed. The NN was applied to approximate the unknown dynamics and the barrier Lyapunov function was applied to prevent the system from violating the output rules. The feasibility and effectiveness of the proposed strategy were verified by simulation.