Transparency control of exoskeleton robots

Abstract

Exoskeleton robots, characterized by its anthropomorphism and operation under intrinsic contact with a human being (its user), represent a high level of human-machine interaction, in which advances in robotics are used in order to expand the limits of human beings, in areas such as rehabilitation of people with locomotion problems, reduction of metabolic rate during execution of a certain task, carrying high mass loads or user force amplification. However, such benefits are valuable only if the exoskeleton moves itself while keeping harmony and sync relative to its user, so that the latter does not feel discomfort or has to make additional effort while utilizing the wearable robot. Such a concept is named transparency, and is attainable by means of combining sensing, estimation, control and actuation systems. This work aims at studying the proposals that pursue transparency at the State-of-the-art and present new ways of pursuing this objective as well as combining and adapting existing results, in order to create a comprehensive platform that delivers the exoskeleton user the best attainable level of transparency. (AU)