Exoskeleton robot is a machine consisting of an outer framework worn by human, and powered by actuators that can provide external energy for the users to perform the human needs. Hydraulic exoskeleton robot has strong advantages of its high power density and strong advantages of its high power density and more chances to be utilized to satisfy the requirement of national defense, industrial and natural disaster.
Exoskeletons are worn by human, the key component for high performance of exoskeletons is depend on how the intention of human motion is well reflected to exact forces estimation during the process. The main goal of this research is to study the advanced mechanism and control design of hydraulic upper limb exoskeleton robot with pHR.
Force Control with Learning from Demonstration
Factory-based manufacturing technologies have disadvantages in that, if there are small variations in production processes or products for producing various products, the production line must also be changed. High degrees of freedom manipulator with learning from demonstration control can compensates for these disadvantages because it can perform various tasks. If the operator can move the robot intuitively and robot can program the movement immediately, the robot can make the desired move easily even if there is no knowledge about the robot or control.
In order to achieve the above object, the robot needs to move easily and quickly as intended by humans. For this purpose, it is possible to measure the force using a sensor that measures the force applied by the robot to the robot, and convert the force into motion of the robot. It is also possible to control so that a person can easily and quickly perform more various tasks if operator can control not only the desired position but also the desired speed and interaction with the surrounding environment with the desired force in the complex tasks like grinding, assembling, bolting, etc.