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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Stochastic Estimation of Human Arm Impedance Using Robots With Nonlinear Frictions: An Experimental Validation
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Stochastic Estimation of Human Arm Impedance Using Robots With Nonlinear Frictions: An Experimental Validation

机译：带有非线性摩擦的机器人的人类手臂阻抗的随机估计：实验验证

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摘要

Inspired by previous research on the promising internal model-based impedance control (IMBIC) scheme, it was implemented and experiments were undertaken to determine the stochastic estimation of human arm impedance. A 2-DOF selective compliant assembly robot arm (SCARA) robot with significant nonlinear frictions was used in the experiments in order to test the accuracy and reliability of the estimation under nonlinear frictions, with the IMBIC and with a proportional derivative (PD) control, respectively. After the stochastic estimation method with the SCARA robot and the IMBIC was validated using a spring array, the method was applied to the estimation of human arm impedance. The experimental results demonstrated that the stochastic estimation using the IMBIC yields accurate and reliable estimations even under substantial frictions: the multiple coherence functions exceeded 0.95 throughout the frequency range investigated and the estimated magnitudes and phases matched well with a second-order best-fit model. Furthermore, the best-fit model demonstrated reasonable agreement with the results of previous research. The stochastic estimation using the IMBIC has also demonstrated effectiveness in the estimation of human arm impedance using conventional robots.
机译：受先前关于有前途的基于内部模型的阻抗控制（IMBIC）方案的研究的启发，该方案得以实施，并进行了实验以确定人手臂阻抗的随机估计。为了在非线性摩擦下使用IMBIC和比例微分（PD）控制来测试估计的准确性和可靠性，在实验中使用了具有明显非线性摩擦的2-DOF选择性顺应性装配机械臂（SCARA）机器人，分别。在使用弹簧阵列验证了SCARA机器人和IMBIC的随机估计方法之后，将该方法应用于人手臂阻抗的估计。实验结果表明，即使在很大的摩擦下，使用IMBIC进行的随机估计也可以得出准确而可靠的估计：在所研究的整个频率范围内，多重相干函数均超过0.95，并且估计的幅度和相位与二阶最佳拟合模型非常吻合。此外，最佳拟合模型与先前的研究结果显示出合理的一致性。使用IMBIC进行的随机估计还证明了使用常规机器人进行人的手臂阻抗估计的有效性。

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