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Nonlinear Intelligent Control of Two Link Robot Arm by Considering Human Voluntary Components.

Mingcong Deng¹, Shotaro Kubota¹, Yuanhong Xu¹

¹Department of Electrical and Electronic Engineering (The Graduate School of Engineering), Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Tokyo 184-8588, Japan.

Sensors (Basel, Switzerland)

|February 26, 2022

Summary

This study introduces a novel nonlinear intelligent control for a two-link robot arm, incorporating human voluntary movement components. This approach enhances robot control by modeling human arm viscoelasticity for applications in industry and rehabilitation.

Keywords:

feedforward control human arm viscoelastic nonlinear intelligent control support vector regression

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Area of Science:

Robotics
Biomechanics
Intelligent Control Systems

Background:

Human arm viscoelastic properties (joint stiffness and viscosity) are regulated differently based on task requirements.
Previous research on human arm viscoelasticity often filtered out motor commands, omitting voluntary dynamics.
Understanding and modeling human voluntary components is crucial for advancing robotics, rehabilitation, and sports technologies.

Purpose of the Study:

To develop a nonlinear intelligent control strategy for a two-link robot arm.
To incorporate human voluntary components into the robot arm control model.
To improve the accuracy and applicability of robot arm control by considering human motor dynamics.

Main Methods:

A model of the human multi-joint arm was obtained by considering human voluntary components.
Support Vector Regression (SVR) technique was employed to learn the human arm model.
A nonlinear intelligent control strategy was designed based on the learned human arm model.

Main Results:

The study successfully modeled human voluntary components in arm movements using SVR.
A nonlinear intelligent control system for a two-link robot arm was proposed and implemented.
Experimental results validated the effectiveness of the proposed control strategy.

Conclusions:

The proposed nonlinear intelligent control effectively incorporates human voluntary components.
The approach enhances robot arm control by considering human motor dynamics.
This research contributes to the development of more sophisticated robots for industrial, rehabilitation, and sports applications.