Upper limb wearable robot oriented man-machine game control method and system

Abstract

The invention provides an upper limb wearable robot oriented man-machine game control method and system. The method comprises the following steps of decomposing a complex or multi-process task jointlycompleted by a user and a robot into a plurality of basic tasks, and establishing a man-machine capability matrix and a task matching matrix, which aim at each basic task, to perform task allocation;and inputting a result of the task allocation into a man-machine zero-sum or non-zero-sum play mathematical model based on a game theory, calculating the optimal rigidity, which is matched at a man-machine tail end, of the robot, then calculating a reference trajectory of the tail end of the robot by a robot impedance model, and finally outputting control moment by an adaptive controller to realize tracking the reference trajectory. By using the control method of the upper limb wearable robot, which is provided in the invention, the better compliance control can be achieved under the situation of man-machine cooperation; the movement intention of the user is perceived; and the input force of the user is minimized.

Description

technical field [0001] The present invention relates to the technical field of intelligent control of intelligent robots. Specifically, it relates to a man-machine game control method and system for upper-limb wearable robots. Background technique [0002] Shared control of upper-limb wearable robots is an emerging research field, which has a wide range of applications in robot rehabilitation, search and rescue, and teleoperation. Humans and robots have complementary capabilities, and their collaboration is necessary in many situations. Traditional approaches to dealing with physical human-robot interactions often involve robots following human motion through impedance or admittance controllers, the rationale for explicitly positioning these roles is that humans possess better cognitive capabilities such as situational awareness and decision-making skills , while robots possess better physical capabilities, such as precision and strength. However, this fixed control mode o...

AI Technical Summary

Problems solved by technology

However, this fixed control pattern of human as the leader and robot as the follower requiring the human to always lead the task and drive the robot means that the human is constantly subjected to high cognitive load, which degrades performance in long-term operations.

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