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Exoskeletons & Physical Human-Robot Interaction Controls
May 6, 2019
Seminar
Relator: Domenico Chiaradia, PhD
Human-Robot Interaction Area
Email: [email protected]
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Outline
Soft
pHRI
T-op
Exos
Demo
01 • Applications
• Interactions
• Mechanical aspects
Exoskeletons
03 • Interaction Limits
• Time Domain Passivity Approach
• Interaction with remote environment
• Delay and Passivity for Bilateral Teleoperation
Passivity and Teleoperation
05Call for Thesis
Exosuit Demo
02• Interaction Control Taxonomy
• Force Control
• Interaction with a Virtual Environment
P-HRI Controls
04• Design and Control of a Soft Elbow Exosuit
Soft Exosuit for Assistance
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Exoskeletons
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Exo…what?
Exoskeleton is a robot that can be worn and behaves like an external skeleton.
It transmits forces to the wearer through its structure.
Exoskeletons try to replicate human body kinematics.
Hardiman, Mosher, 1965
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Applications
ALEx, Percro, Pisa Lopes, Twente Univ.
•Healthcare
•Rehabilitation (post-stroke
and spinal cord injury
patients);
•Assistance;
Elbow Exosuit,
Heidelberg University & Percro
Maxx, ETH
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Applications
•Healthcare
•Rehabilitation (Post-stroke
and spinal cord injury
patients);
•Assistance;
• Industrial/Military/Rescue
•Power Augmentation
•Assistance
•Remote Operation
H-Wex, Hyundai MATE, Comau
(Passive)
Body Extender, Percro
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Applications and Interactions
• Rehabilitation →
• Remote Operation →
• Assistance →
Robot interacts with user and virtual
environment
Robot interacts with user and real remote environment
Robot interacts with user
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Mechanical aspects: from Rigid to Soft
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From Rigid to Soft
• Introducing compliance in the actuation stage
•Series elastic actuators (SEA)[1];
•Variable stiffness actuators (VSA)[2];
•Variable impedance actuators (VIA)[3];
•Soft materials → safe and gentle interaction[4].
[1] G. A. Pratt and M. M. Williamson, “Series elastic actuators”, IEEE/RSJ International Conference on, 1995
[2] G. Tonietti, R. Schiavi, and A. Bicchi, “Design and control of a variable stiffness actuator for safe and fast
physical human/robot interaction”, in Robotics and Automation, ICRA, 2005
[3] B. Vanderborght, A. Albu-Schäffer, A. Bicchi, E. Burdet, D. G. Caldwell, R. Carloni, M. Catalano, O. Eiberger,
W. Friedl, G. Ganesh et al., “Variable impedance actuators: A review”, Robotics and autonomous systems, 2013.
[4] A. T. Asbeck, S. M. De Rossi, I. Galiana, Y. Ding, and C. J. Walsh, “Stronger, smarter, softer: next-generation
wearable robots”, IEEE Robotics & Automation Magazine, 2014.
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P-HRI Controls
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Theoretical tools
Device
Environment
k
Device
Environment
k
b
m
Environment
Device 𝜃
𝜏𝑒
𝜏𝑚
+
_ Environment
Device 𝜃
𝜏𝑒
𝜏𝑟
+
_Force
control
𝜏𝑚
Stiffness Impedance
Back-drivability Non Back-drivability
𝒇𝒆 = 𝒈(𝒙, ሶ𝒙, ሷ𝒙) 𝒌 =𝝏𝒈(𝒙, ሶ𝒙, ሷ𝒙)
𝝏𝒙|𝒙𝟎 𝒁(𝒔) =
𝑭𝒆(𝒔)
𝑱𝑿(𝒔)
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Interaction Control Taxonomy[5]
Interaction
control
Passive Active
Position
control
Direct force
control
Indirect force
control
Impedance
control
Admittance
control
[5] A. Calanca, R. Muradore, and P. Fiorini, “A review of algorithms for compliant control of stiff and fixed-compliance
robots”, IEEE/ASME Transactions on Mechatronics, 2016.
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Interaction Controls
Environment
Device 𝜃
𝜏𝑒+
Force
control
_𝜏𝑟
+ _
Direct Force/Torque Control
Exos
JOINT 1
JOINT 2
JOINT 3
JOINT 4
JOINT
5
F/T
SENSOR• Serial Kinematics
• 5 DOF: 4 Actuated
• Transmission Ratio (1:100) → Not backdrivable
• 3 Joint Torque Sensors
• 6 axis Force/Torque Sensor at e.e.
• 150 N at the e.e. in every point of workspace
The Rehab-Exos
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Interaction Controls
Environment
Device 𝜃
𝜏𝑒+
Force
control
_
𝜏𝑟
+ _ Impedance
𝜃𝑟
+ _+
Impedance Control (Explicit)
Impedance Control (Implicit)
Environment
Device 𝜃
𝜏𝑒+ _ Impedance
𝜃𝑟
+ _
+
Feed-forward
terms
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WRES: Wrist Exoskeleton
• Low weight
• Optimal mass distribution
• High torque/mass ratio
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Interaction with VE
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Impedance Control in HapticsAutomotive Gearshift Simulator
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Interaction Controls
Environment
Device 𝜃
𝜏𝑒𝜃𝑟
+
_Position
control +
_
_
𝜏𝑟
+
_
Admittance
Admittance Control (Explicit)
Exos
Used for:
Further details later!
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Passivity and Teleoperation
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Interaction Control Limits
• It is not possible to render and infinite stiffness
• Each device is characterized by a critical stiffness
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Theoretical toolsPassivity
A system is passive if it absorbs more energy than the one returned
If we define Positive the input power (P),
𝑷 = 𝑭 ∗ ሶ𝒙
A system is passive if:
𝑷 = 𝑭 ∗ ሶ𝒙 =𝒅𝑬𝒔𝒕𝒐𝒓𝒆
𝒅𝒕+ 𝑷𝒅𝒊𝒔𝒔
where
𝑬𝒔𝒕𝒐𝒓𝒆 > 𝑬𝒎𝒊𝒏, 𝑬𝒔𝒕𝒐𝒓𝒆 is a storing energy function
𝑷𝒅𝒊𝒔𝒔 > 𝟎, 𝑷𝒅𝒊𝒔𝒔 is a dissipative power function
1. In a passive system the energy is stored or dissipated
2. The passive system cannot generate energy and can only return the stored energy
3. The energy returned by the system is limited by the stored energy
System
ሶ𝒙
+
−
𝐹
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Theoretical toolsPassivity – Effect of Quantization
Consider the energy stored in a spring with stiffness K
𝑭 = 𝑲 ∗ 𝒙 (Hook’s law)
System
ሶ𝒙
+
−
𝐹
𝐸 =1
2𝑘𝑥2
F
x
x
F
Press phase
x
F
Release phase
If we consider quantization
If we consider a constant
velocity and a sample time
of T, the system generate
an amount of energy:
𝑘 ሶ𝑥2𝑇2
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Time Domain Passivity Approach
Human
Operator
Haptic
Interface
Virtual
Environment𝜶
ሶ𝑥ℎ
𝑓ℎ
𝑓𝑐 𝑓𝑣𝑒
ሶ𝑥𝑐 ሶ𝑥𝑣𝑒
+
+
+
−𝑓𝑃𝐶
[6] B. Hannaford and J.-H. Ryu, “Time-domain passivity control of haptic interfaces”, IEEE Transactions on Robotics and
Automation, 2002.
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Interaction with remote env.
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Interaction with remote env.
CENTAURO – Robust Mobility and Dexterous Manipulation in
Disaster Response by Fullbody Telepresence in a Centaur-like Robot
Commands
Feedbacks
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Theoretical tools
𝑍ℎ
Environment
Interface 𝑍𝑒
Operator
𝑍𝑖 𝑍𝑒
𝐹ℎ 𝐹𝑒
+
−
𝑉ℎ
+
−
𝑉𝑒
Transparency
𝑭𝒆 = 𝒁𝒆 ∗ 𝑽𝒆
𝑭𝒉 = 𝒁𝒊 ∗ 𝑽𝒉
Environment force
Human force
The interface is transparent if [14]
𝒁𝒊 = 𝒁𝒆
[14] D. A. Lawrence, “Stability and transparency in bilateral teleoperation”, IEEE transactions on robotics and
automation, 1993
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Transparency and Teleoperation
MASTER
SLAVE
EE Velocities
EE Measured Forces
With Position - Measured Force Control Schema
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Effect of delay
80ms communication delay &
NO Passivity Controller
80ms communication delay &
Passivity Controller ON
Unstable interaction with remote
environment
Stable interaction with remote
environment
BUT, Loss of transparency!
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Soft Exosuit for Assistance
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• No rigid structures → no misalignment between the robot’s and
user’s joints → no discomfort
Neurological musculoskeletal disorders (WMSD)
• On the complementary way of robotic rehabilitation based onexercising workstation, and rigid exoskeleton, the Exosuit strategyemphasize portability and ergonomics for the following applications:
– Stroke/SCI assistance in activities of daily living
– Walking support/stabilization
Why a soft structure?
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Exosuits, HarvardPolyglove, SNU
SuperFlex, SRI
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• Exosuits have been proven to be successful in:
– Reducing the metabolic cost of human walking in both
stroke patients [7] and healthy subjects [8];
– Lowering the muscular effort required for:
• Upper limb movements;
• Sit-to-stand transitions;
– Aiding extension and flexion of the fingers in stroke and
spinal cord injury patients [9].
[7] L. N. Awad et al., “A soft robotic exosuit improves walking in patients after stroke,” Sci. Transl. Med., 2017.
[8] B. T. Quinlivan et al., “Assistance magnitude versus metabolic cost reductions for a tethered multiarticular soft
exosuit,” Sci. Robot., 2017.
Exosuit Effectiveness
[9] H. In and K.-j. Cho, “Exo-Glove : Soft wearable robot for the hand using soft tendon routing system,” IEEE Robot.
Autom., 2015.
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Design & Control of a Soft ElbowExosuit
Objectives:
• Design of a soft elbow exosuit for assistance in ADL tasks:
– Arm’s load relieving;
– Muscular effort reduction in moving and sustaining externalloads;
• The assistive exosuit should not affect the human kinematicsand has to be comfortable;
• Develop an untethered control architecture:
– Embeddable in a box, simple to wear;
– Robust and safe.
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Suit’s Design
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∅
Suit’s Design
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Control Strategy
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Control Stategy
Assistive Torque Estimator
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Control Stategy
𝝉𝒈
Desired velocity computation
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Validation - ExperimentsProtocol
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Validation - ResultsJoint Angles and Torques
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Validation - Results
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Call for Thesis
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Call for Thesis
• Topic #1: Development and Intelligent Control Strategies of an Assistive Soft Exosuit for the upper-body
– Use of EMG signals for control
• Topic #2: Development and Control Strategies for an Assistive
Soft Glove
• Topic #3: Development of Soft Robotic Hand
Control Strategies for Telemanipulation and Telerehabilitation
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Call for Thesis
• Topic #5: Control of robots for maintenance
and inspections
• UGV
• Vision-based control
• Topic #6: Development of a Driving Co-Pilot for assistance and
driving style evaluation
• Topic #4: Control Strategies for an Assistive Leg Exoskeleton
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Thank youfor the attention!
Domenico ChiaradiaEmail: [email protected]