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Compliant-Control-Based Assisted Walking with Mobile Manipulator.

Weihua Li^1,2,3, Pengpeng Li¹, Lei Jin¹

¹School of Automotive Engineering, Harbin Institute of Technology-Weihai, Weihai 264201, China.

Biomimetics (Basel, Switzerland)

|February 23, 2024

Summary

This summary is machine-generated.

This study introduces a mobile manipulator system to help people with mobility impairments walk. It uses advanced controllers for smoother human-robot interaction and optimized configuration for safer, more effective assistance.

Keywords:

assisted walking compliant control fuzzy theory mobile manipulator

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Area of Science:

Robotics
Human-Robot Interaction
Assistive Technology

Background:

Mobility impairments significantly affect quality of life.
Existing assistive devices often lack adaptability and intuitive control.
Mobile manipulators offer potential for advanced mobility assistance.

Purpose of the Study:

To develop and validate a novel mobile manipulator system for assisted walking.
To enhance human-robot interaction through adaptive control strategies.
To optimize the physical configuration of the mobile manipulator for safe and effective assistance.

Main Methods:

A variable admittance controller with fuzzy logic for adaptive parameter regulation.
A feedforward velocity compensator using a state observer to improve manipulator compliance.
Null-space optimization of the mobile manipulator configuration considering singularity, force capacity, and gravity-induced deformation.
Implementation and testing of the integrated human-robot interaction and null-space controllers.

Main Results:

The variable admittance controller successfully adapted to interaction forces and predicted human motion intention.
The feedforward compensator reduced manipulator inertia, enhancing interaction compliance.
Null-space optimization addressed critical configuration constraints.
Experimental validation demonstrated the feasibility of assisted walking with the proposed system.

Conclusions:

The developed mobile manipulator system and its control strategies are effective for assisting individuals with mobility impairments in walking.
The adaptive and compliant control approach significantly improves the safety and naturalness of human-robot interaction.
This research paves the way for more sophisticated robotic solutions in personal mobility assistance.