TY - GEN
T1 - Sensorless Safe Interaction Method for Novel Tendon-Driven SuperLimb Based on Dynamic Parameter Identification
AU - Zhang, Qinghua
AU - Li, Yuancheng
AU - Jing, Hongwei
AU - Sun, Kerui
AU - Li, Xianglong
AU - Zhao, Sikai
AU - Li, Lele
AU - Ju, Haotian
AU - Wang, Ziqi
AU - Zheng, Tianjiao
AU - Zhao, Jie
AU - Zhu, Yanhe
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - Supernumerary Robotic Arms (SuperLimb) are new types of wearable robots designed for human operation augmentation by working closely with the human limb. As a special collaborator of the wearer, the probability of accidental collision is greatly increased, thus posing a formidable challenge to the safety of humans. To address this issue, this paper proposes a sensorless interaction method based on dynamic parameter identification greatly increases the security guarantee between human and SuperLimb. To improve the identification accuracy of the dynamic system, a novel dynamic identification model considering the flexible elastic deformation of tendons is first derived. Subsequently, the detailed excitation trajectory design and optimization are presented. Then, the identification experiment is conducted on the SuperLimb. The experiment results show that the proposed approach with considering the influence of tendon can improve the accuracy of model estimation and the identified dynamic parameters are accurate. Finally, the application experiment is successfully applied in the human-SuperLimb system indicating that the proposed method is useful for increasing the security guarantee between human and SuperLimb.
AB - Supernumerary Robotic Arms (SuperLimb) are new types of wearable robots designed for human operation augmentation by working closely with the human limb. As a special collaborator of the wearer, the probability of accidental collision is greatly increased, thus posing a formidable challenge to the safety of humans. To address this issue, this paper proposes a sensorless interaction method based on dynamic parameter identification greatly increases the security guarantee between human and SuperLimb. To improve the identification accuracy of the dynamic system, a novel dynamic identification model considering the flexible elastic deformation of tendons is first derived. Subsequently, the detailed excitation trajectory design and optimization are presented. Then, the identification experiment is conducted on the SuperLimb. The experiment results show that the proposed approach with considering the influence of tendon can improve the accuracy of model estimation and the identified dynamic parameters are accurate. Finally, the application experiment is successfully applied in the human-SuperLimb system indicating that the proposed method is useful for increasing the security guarantee between human and SuperLimb.
KW - Coupling dynamics
KW - Dynamic parameter identification
KW - Sensorless safe interaction
KW - Tendon-driven Supernumerary Robotic Arms
UR - https://www.scopus.com/pages/publications/85218626685
U2 - 10.1007/978-981-96-0792-1_30
DO - 10.1007/978-981-96-0792-1_30
M3 - 会议稿件
AN - SCOPUS:85218626685
SN - 9789819607914
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 401
EP - 415
BT - Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
A2 - Lan, Xuguang
A2 - Mei, Xuesong
A2 - Jiang, Caigui
A2 - Zhao, Fei
A2 - Tian, Zhiqiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
Y2 - 31 July 2024 through 2 August 2024
ER -