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Control parameter optimization of the actively powered upper body exoskeleton using subjective feedbacks

: Ebrahimi, Amir; Gröninger, Dorothea; Singer, Raphael; Schneider, Urs


Liao, W.-H. ; Institute of Electrical and Electronics Engineers -IEEE-:
3rd International Conference on Control, Automation and Robotics, ICCAR 2017 : 22 Apr.-24 Apr., 2017, Nagoya, Japan
Piscataway, NJ: IEEE, 2017
ISBN: 978-1-5090-6088-7
ISBN: 978-1-5090-6087-0
ISBN: 978-1-5090-6086-3
ISBN: 978-1-5090-6089-4
International Conference on Control, Automation and Robotics (ICCAR) <3, 2017, Nagoya>
Fraunhofer IPA ()
Exoskelett; Arbeitshilfe; Parameteroptimierung; Robotersteuerung; Kinematik; Sensor

A method of optimizing the control parameter of wearable exoskeletons for industrial applications using subjective feedbacks is introduced in this paper. The human sensory system is explained and a method of mapping these perceptions to the control parameter set of the exoskeleton is developed. Subsequently a method for online parameter adjustment based on the kinetic and kinematic quantities is established and the method is verified for a case study with the Stuttgart Exo-Jacket.