Exoskeleton transparency: feed-forward compensation vs. disturbance observer
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Fabian Just
Fabian Just received a M.Sc. degree in electrical and computer engineering from Purdue University (IN, USA) as well as a M.Sc. degree in automatic control from Ruhr-University Bochum (Germany). He is a PhD student at the Sensory-Motor Systems Lab of ETH Zurich. His main research focus is robotics, automatic control, machine learning, and neurorehabilitation.
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Özhan Özen
Özhan Özen received his B.S. in Mechatronics Engineering from Sabanci University, and his MSc in Robotics, Systems & Control from ETH Zurich. He started his PhD at University of Bern, under the supervision of Laura Marchal-Crespo in 2017. His focus is making the robotics systems intelligent, adaptive and autonomous for neurorehabilitation.
Philipp Bösch received his B.Sc. in health science and technology from the ETH Zurich in 2017. He is currently finishing his M.Sc. in health science and technology focusing on medical technologies and rehabilitation engineering.
Hanna Bobrovsky is a Master’s student majoring in Medical Technology at the ETH Zurich. Her current research interests involve neurorehabilitation, rehabilitation robotics and prosthetics.
Verena Klamroth studied Human Medicine at Freie Universität and Humboldt-Universität in Berlin (Germany). She received her doctoral degree from Westfälische Wilhelms-Universität Münster (Germany). Since 2008, she has been a medical advisor and the group leader of the ARMin project at the Sensory-Motor Systems Lab at ETH Zurich.
Robert Riener is full professor for Sensory-Motor Systems at the Department of Health Sciences and Technology, ETH Zurich, and full professor of medicine at the University Hospital Balgrist, University of Zurich. He obtained a MSc in mechanical engineering in 1993 and a PhD in biomedical engineering 1997, both from TU München, Germany. In 2003 he became professor in Zurich. His main research focus is in rehabilitation robotics, virtual reality, and biomechanics. Riener has published more than 400 peer-reviewed articles, 20 book chapters and filed 23 patents. He is the initiator and organizer of the Cybathlon.
Georg Rauter is assistant professor for medical robotics and mechatronics at the Department of Biomedical Engineering of University of Basel. The main focus of the research in his BIROMED Lab is: robotic endoscopes for laser ablation of hard tissue, bio-inspired sensor technologies for endoscopic navigation, tele manipulation, automation, kinematics, rehabilitation robotics, and control.
Abstract
Undesired forces during human-robot interaction limit training effectiveness with rehabilitation robots. Thus, avoiding such undesired forces by improved mechanics, sensorics, kinematics, and controllers are the way to increase exoskeleton transparency.
In this paper, the arm therapy exoskeleton ARMin IV+ was used to compare the differences in transparency offered by using the previous feed-forward model-based controller, with a disturbance observer in a study. Systematic analysis of velocity-dependent effects of controller transparency in single- and multi-joint scenarios performed in this study highlight the advantage of using disturbance observers for obtaining consistent transparency behavior at different velocities in single-joint and multi-joint movements. As the main result, the concept of the disturbance observer sets a new benchmark for ARMin transparency.
Zusammenfassung
Ungewollte Kräfte bei Mensch-Maschine Interaktionen limitieren die Trainingsqualität mit Rehabilitationsrobotern. Mit dem Vermeiden dieser ungewollten Kräfte durch verbesserte Mechanik, Sensorik, Kinematik und Regelungskonzepte wird die Transparenz des Exoskeletts erhöht. In diesem Beitrag wurde das Armexoskelett ARMin IV+ genutzt, um die zur Zeit verwendete modellbasierte Vorwärtssteuerung mit einem Störbeobachter in einer Studie zu vergleichen. Die systematische Analyse von geschwindigkeitsbasierten Effekten der Transparenz in Einzelgelenk- und Multigelenkszenarien hebt die Vorteile des Störbeobachters hervor, welcher konsistentes Transparenzverhalten bei verschiedenen Geschwindigkeiten während Einzelgelenk- und Multigelenksbewegungen zeigte. Als Hauptresultat setzt das Konzept des Störbeobachters einen neuen Maßstab für ARMin Transparenz.
Funding source: Eidgenössische Technische Hochschule Zürich
Award Identifier / Grant number: 0-20075-15
Funding statement: This work was supported by ETH research grant 0-20075-15, ETH, UZH and the CRRP Neuro-Rehab, University of Zurich.
About the authors
Fabian Just received a M.Sc. degree in electrical and computer engineering from Purdue University (IN, USA) as well as a M.Sc. degree in automatic control from Ruhr-University Bochum (Germany). He is a PhD student at the Sensory-Motor Systems Lab of ETH Zurich. His main research focus is robotics, automatic control, machine learning, and neurorehabilitation.
Özhan Özen received his B.S. in Mechatronics Engineering from Sabanci University, and his MSc in Robotics, Systems & Control from ETH Zurich. He started his PhD at University of Bern, under the supervision of Laura Marchal-Crespo in 2017. His focus is making the robotics systems intelligent, adaptive and autonomous for neurorehabilitation.
Philipp Bösch received his B.Sc. in health science and technology from the ETH Zurich in 2017. He is currently finishing his M.Sc. in health science and technology focusing on medical technologies and rehabilitation engineering.
Hanna Bobrovsky is a Master’s student majoring in Medical Technology at the ETH Zurich. Her current research interests involve neurorehabilitation, rehabilitation robotics and prosthetics.
Verena Klamroth studied Human Medicine at Freie Universität and Humboldt-Universität in Berlin (Germany). She received her doctoral degree from Westfälische Wilhelms-Universität Münster (Germany). Since 2008, she has been a medical advisor and the group leader of the ARMin project at the Sensory-Motor Systems Lab at ETH Zurich.
Robert Riener is full professor for Sensory-Motor Systems at the Department of Health Sciences and Technology, ETH Zurich, and full professor of medicine at the University Hospital Balgrist, University of Zurich. He obtained a MSc in mechanical engineering in 1993 and a PhD in biomedical engineering 1997, both from TU München, Germany. In 2003 he became professor in Zurich. His main research focus is in rehabilitation robotics, virtual reality, and biomechanics. Riener has published more than 400 peer-reviewed articles, 20 book chapters and filed 23 patents. He is the initiator and organizer of the Cybathlon.
Georg Rauter is assistant professor for medical robotics and mechatronics at the Department of Biomedical Engineering of University of Basel. The main focus of the research in his BIROMED Lab is: robotic endoscopes for laser ablation of hard tissue, bio-inspired sensor technologies for endoscopic navigation, tele manipulation, automation, kinematics, rehabilitation robotics, and control.
Acknowledgment
The authors would like to thank Michael Herold-Nadig and Yves Zimmermann for their constant, valuable support.
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© 2018 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
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- Editorial
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- Methods
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- Automatic control of grasping strength for functional electrical stimulation in forearm movements via electrode arrays
- Structural health monitoring of tissue mechanics for non-invasive diagnosis of breast cancer
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Temperature-controlled laser therapy of the retina via robust adaptive
- Application of Kalman filter for breathing effort reconstruction for OSAS patients in breathing therapy
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Articles in the same Issue
- Frontmatter
- Editorial
- Jahresrückblick 2018
- Automation in medicine: from homecare to clinical applications
- Survey
- Wearables: Ein Blick aus ärztlicher Perspektive über Möglichkeiten, Herausforderungen und Risiken im Gesundheitswesen
- Methods
- Common-mode rejection in the measurement of wearable ECG with cooperative sensors
- Applications
- Exoskeleton transparency: feed-forward compensation vs. disturbance observer
- Automatic control of grasping strength for functional electrical stimulation in forearm movements via electrode arrays
- Structural health monitoring of tissue mechanics for non-invasive diagnosis of breast cancer
-
Temperature-controlled laser therapy of the retina via robust adaptive
- Application of Kalman filter for breathing effort reconstruction for OSAS patients in breathing therapy
- Optimizing controlled laser cutting of hard tissue (bone)
- Forum
- 52. Regelungstechnisches Kolloquium
