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A Hierarchical Safety Control Strategy for Exoskeleton Robot Based on Maximum Correntropy Kalman Filter and Bounding Box

Published online by Cambridge University Press:  04 July 2019

Yang Mo
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China
Zhenzi Song
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China
Hui Li*
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China
Zhihong Jiang*
Affiliation:
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China
*
*Corresponding author. E-mails: lihui2011@bit.edu.cn, jiangzhihong@bit.edu.cn
*Corresponding author. E-mails: lihui2011@bit.edu.cn, jiangzhihong@bit.edu.cn

Summary

Exoskeleton robots have been widely used in many fields at present. When wearing the exoskeleton to operate, the wearer may be unconscious of the position of exoskeleton or affected by the surrounding environment, causing collision between two arms of exoskeleton or between arms and environment. The collision may result in the exoskeleton destroyed or even the wearer injured. This paper proposes a hierarchical safety control strategy for exoskeleton robots based on maximum correntropy Kalman filter and bounding box to ensure safe operation. Accurate joint angle prediction can be obtained by filtering out non-Gaussian impulsive noise using maximum correntropy criterion as evaluation criterion. Relative position relationship of the arms can be derived based on bounding box to realize hierarchical safe control. Enough experiments have been carried out, and the results validated the feasibility of the proposed method.

Type
Articles
Copyright
© Cambridge University Press 2019 

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