Recognition and control of movement intention in 7-DOFs robot position mode
Huanyu Liu, Mingxiang Chen, Mengyang Gao, Yu Wang · 2024
To enable stroke patients to achieve accurate, real-time, and stable rehabilitation outcomes in human-machine interaction, this study proposes a human-machine interaction system based on 7 degrees of freedom (7-DOF) collaborative robotic arm motion intent recognition. The patient's motion intent is achieved through the degree and direction of interaction between their palm and the end-effector of the robotic arm. The control system then uses the parsed motion intent to set and drive the direction and speed of the robotic arm's end-effector. Motion intent is primarily expressed through two indicators: motion direction and motion speed. The former is determined by the direction in which the patient applies force to the end-effector of the robotic arm. The latter is jointly determined by the magnitude of the applied force and the angle between the direction of the applied force and the tangent direction at the trajectory point. When the applied force is greater, and its direction is more aligned with the prescribed trajectory tangent direction, the speed of the robotic arm's end-effector increases. This, in turn, guides the patient to continually strengthen and improve their control ability in terms of the prescribed trajectory's direction and force intensity.