Energetically Passive Multi-Degree-of-Freedom Hydraulic Human Power Amplifier With Assistive Dynamics
This paper develops a control approach for a multi-degree-of-freedom (DoF) hydraulic human power amplifier (HHPA) which is a tool with which a human interacts physically. The control objective is to use the hydraulic actuators to amplify the human force while ensuring that the closed-loop system is...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2020-07, Vol.28 (4), p.1296-1308 |
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| creator | Lee, Sangyoon Li, Perry Y. Eskilsson, Fredrik |
| description | This paper develops a control approach for a multi-degree-of-freedom (DoF) hydraulic human power amplifier (HHPA) which is a tool with which a human interacts physically. The control objective is to use the hydraulic actuators to amplify the human force while ensuring that the closed-loop system is energetically passive with respect to a scaled human and environment input power, so as to enhance the safety and coupling stability. A multi-DoF virtual velocity coordination approach is used to recast the force control problem as one of coordination between the velocities of fictitious inertia and of the HHPA. To aid the human to perform specific tasks, additional passive assistance dynamics are incorporated to include a passive velocity field controller (PVFC) for path guidance, and an artificial potential field for obstacle avoidance (OA). Control of the hydraulic actuators is defined by a passivity-based controller that considers the natural energy storage of the hydraulic actuators to fully account for the nonlinear pressure dynamics. The controllers specify the required flows which are then satisfied by either a servo-valve or an energy efficient hydraulic transformer. Experimental results demonstrate good control performance and effective task assistance. |
| doi_str_mv | 10.1109/TCST.2019.2909724 |
| format | Article |
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The control objective is to use the hydraulic actuators to amplify the human force while ensuring that the closed-loop system is energetically passive with respect to a scaled human and environment input power, so as to enhance the safety and coupling stability. A multi-DoF virtual velocity coordination approach is used to recast the force control problem as one of coordination between the velocities of fictitious inertia and of the HHPA. To aid the human to perform specific tasks, additional passive assistance dynamics are incorporated to include a passive velocity field controller (PVFC) for path guidance, and an artificial potential field for obstacle avoidance (OA). Control of the hydraulic actuators is defined by a passivity-based controller that considers the natural energy storage of the hydraulic actuators to fully account for the nonlinear pressure dynamics. The controllers specify the required flows which are then satisfied by either a servo-valve or an energy efficient hydraulic transformer. Experimental results demonstrate good control performance and effective task assistance.</description><identifier>ISSN: 1063-6536</identifier><identifier>EISSN: 1558-0865</identifier><identifier>DOI: 10.1109/TCST.2019.2909724</identifier><identifier>CODEN: IETTE2</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Actuators ; Controllers ; Coordination ; Degrees of freedom ; Dynamics ; Energetic passivity ; Energy storage ; exoskeleton ; Exoskeletons ; Feedback control ; Force ; Human performance ; human power augmentation ; Hydraulic actuators ; Hydraulic equipment ; hydraulic transformer ; Hydraulics ; natural energy storage ; Nonlinear control ; Nonlinear dynamics ; Obstacle avoidance ; obstacle avoidance (OA) ; passive decomposition ; passive velocity field control (PVFC) ; Potential fields ; Power amplifiers ; Power management ; Servovalves ; Valves ; Velocity distribution</subject><ispartof>IEEE transactions on control systems technology, 2020-07, Vol.28 (4), p.1296-1308</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c336t-9a34938ad43544889e27f1c2dfaa2d338b85ebd8f303391b671eee93d061bb113</citedby><cites>FETCH-LOGICAL-c336t-9a34938ad43544889e27f1c2dfaa2d338b85ebd8f303391b671eee93d061bb113</cites><orcidid>0000-0001-6433-3945 ; 0000-0002-9329-3222</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/8697085$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27903,27904,54736</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/8697085$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Lee, Sangyoon</creatorcontrib><creatorcontrib>Li, Perry Y.</creatorcontrib><creatorcontrib>Eskilsson, Fredrik</creatorcontrib><title>Energetically Passive Multi-Degree-of-Freedom Hydraulic Human Power Amplifier With Assistive Dynamics</title><title>IEEE transactions on control systems technology</title><addtitle>TCST</addtitle><description>This paper develops a control approach for a multi-degree-of-freedom (DoF) hydraulic human power amplifier (HHPA) which is a tool with which a human interacts physically. The control objective is to use the hydraulic actuators to amplify the human force while ensuring that the closed-loop system is energetically passive with respect to a scaled human and environment input power, so as to enhance the safety and coupling stability. A multi-DoF virtual velocity coordination approach is used to recast the force control problem as one of coordination between the velocities of fictitious inertia and of the HHPA. To aid the human to perform specific tasks, additional passive assistance dynamics are incorporated to include a passive velocity field controller (PVFC) for path guidance, and an artificial potential field for obstacle avoidance (OA). Control of the hydraulic actuators is defined by a passivity-based controller that considers the natural energy storage of the hydraulic actuators to fully account for the nonlinear pressure dynamics. The controllers specify the required flows which are then satisfied by either a servo-valve or an energy efficient hydraulic transformer. Experimental results demonstrate good control performance and effective task assistance.</description><subject>Actuators</subject><subject>Controllers</subject><subject>Coordination</subject><subject>Degrees of freedom</subject><subject>Dynamics</subject><subject>Energetic passivity</subject><subject>Energy storage</subject><subject>exoskeleton</subject><subject>Exoskeletons</subject><subject>Feedback control</subject><subject>Force</subject><subject>Human performance</subject><subject>human power augmentation</subject><subject>Hydraulic actuators</subject><subject>Hydraulic equipment</subject><subject>hydraulic transformer</subject><subject>Hydraulics</subject><subject>natural energy storage</subject><subject>Nonlinear control</subject><subject>Nonlinear dynamics</subject><subject>Obstacle avoidance</subject><subject>obstacle avoidance (OA)</subject><subject>passive decomposition</subject><subject>passive velocity field control (PVFC)</subject><subject>Potential fields</subject><subject>Power amplifiers</subject><subject>Power management</subject><subject>Servovalves</subject><subject>Valves</subject><subject>Velocity distribution</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kFtLwzAAhYMoOKc_QHwp-JyZS3N7HLs4YeLAiY8hbdOZ0a4zaZX-e1M2fDrn4VzgA-AeownGSD1tZ-_bCUFYTYhCSpD0AowwYxIiydll9IhTyBnl1-AmhD1COGVEjIBdHKzf2dblpqr6ZGNCcD82ee2q1sG53XlrYVPCZdSiqZNVX3jTVS5PVl1tDsmm-bU-mdbHypUuuk_XfiXTuBHaYWbeH0zt8nALrkpTBXt31jH4WC62sxVcvz2_zKZrmFPKW6gMTRWVpkgpS1MplSWixDkpSmNIQanMJLNZIUuKKFU44wJbaxUtEMdZhjEdg8fT7tE3350Nrd43nT_ES01STAkWQsiYwqdU7psQvC310bva-F5jpAeaeqCpB5r6TDN2Hk4dFx__85IrgSSjf75bcTk</recordid><startdate>202007</startdate><enddate>202007</enddate><creator>Lee, Sangyoon</creator><creator>Li, Perry Y.</creator><creator>Eskilsson, Fredrik</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope><orcidid>https://orcid.org/0000-0001-6433-3945</orcidid><orcidid>https://orcid.org/0000-0002-9329-3222</orcidid></search><sort><creationdate>202007</creationdate><title>Energetically Passive Multi-Degree-of-Freedom Hydraulic Human Power Amplifier With Assistive Dynamics</title><author>Lee, Sangyoon ; Li, Perry Y. ; Eskilsson, Fredrik</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c336t-9a34938ad43544889e27f1c2dfaa2d338b85ebd8f303391b671eee93d061bb113</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Actuators</topic><topic>Controllers</topic><topic>Coordination</topic><topic>Degrees of freedom</topic><topic>Dynamics</topic><topic>Energetic passivity</topic><topic>Energy storage</topic><topic>exoskeleton</topic><topic>Exoskeletons</topic><topic>Feedback control</topic><topic>Force</topic><topic>Human performance</topic><topic>human power augmentation</topic><topic>Hydraulic actuators</topic><topic>Hydraulic equipment</topic><topic>hydraulic transformer</topic><topic>Hydraulics</topic><topic>natural energy storage</topic><topic>Nonlinear control</topic><topic>Nonlinear dynamics</topic><topic>Obstacle avoidance</topic><topic>obstacle avoidance (OA)</topic><topic>passive decomposition</topic><topic>passive velocity field control (PVFC)</topic><topic>Potential fields</topic><topic>Power amplifiers</topic><topic>Power management</topic><topic>Servovalves</topic><topic>Valves</topic><topic>Velocity distribution</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lee, Sangyoon</creatorcontrib><creatorcontrib>Li, Perry Y.</creatorcontrib><creatorcontrib>Eskilsson, Fredrik</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>IEEE transactions on control systems technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lee, Sangyoon</au><au>Li, Perry Y.</au><au>Eskilsson, Fredrik</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Energetically Passive Multi-Degree-of-Freedom Hydraulic Human Power Amplifier With Assistive Dynamics</atitle><jtitle>IEEE transactions on control systems technology</jtitle><stitle>TCST</stitle><date>2020-07</date><risdate>2020</risdate><volume>28</volume><issue>4</issue><spage>1296</spage><epage>1308</epage><pages>1296-1308</pages><issn>1063-6536</issn><eissn>1558-0865</eissn><coden>IETTE2</coden><abstract>This paper develops a control approach for a multi-degree-of-freedom (DoF) hydraulic human power amplifier (HHPA) which is a tool with which a human interacts physically. The control objective is to use the hydraulic actuators to amplify the human force while ensuring that the closed-loop system is energetically passive with respect to a scaled human and environment input power, so as to enhance the safety and coupling stability. A multi-DoF virtual velocity coordination approach is used to recast the force control problem as one of coordination between the velocities of fictitious inertia and of the HHPA. To aid the human to perform specific tasks, additional passive assistance dynamics are incorporated to include a passive velocity field controller (PVFC) for path guidance, and an artificial potential field for obstacle avoidance (OA). Control of the hydraulic actuators is defined by a passivity-based controller that considers the natural energy storage of the hydraulic actuators to fully account for the nonlinear pressure dynamics. The controllers specify the required flows which are then satisfied by either a servo-valve or an energy efficient hydraulic transformer. Experimental results demonstrate good control performance and effective task assistance.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TCST.2019.2909724</doi><tpages>13</tpages><orcidid>https://orcid.org/0000-0001-6433-3945</orcidid><orcidid>https://orcid.org/0000-0002-9329-3222</orcidid><oa>free_for_read</oa></addata></record> |
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| subjects | Actuators Controllers Coordination Degrees of freedom Dynamics Energetic passivity Energy storage exoskeleton Exoskeletons Feedback control Force Human performance human power augmentation Hydraulic actuators Hydraulic equipment hydraulic transformer Hydraulics natural energy storage Nonlinear control Nonlinear dynamics Obstacle avoidance obstacle avoidance (OA) passive decomposition passive velocity field control (PVFC) Potential fields Power amplifiers Power management Servovalves Valves Velocity distribution |
| title | Energetically Passive Multi-Degree-of-Freedom Hydraulic Human Power Amplifier With Assistive Dynamics |
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