A Power-Aware Control Strategy for an Elbow Effort-Compensation Device

This work presents a reactive control strategy for loading and sudden unloading of an elbow effort-compensation device controlled in force. Through this strategy, addition to individual's forearm weight, external load can be detected adaptively compensated via feed-forward force reference, facilitating the execution arbitrary movements by wearer. In case contact/load loss, power-aware is implemented immediately eliminate portion reference. The adaptive compensation loads achieved through electromyography interface. Instead, react releases, we set power limit on tendon, continuously measure it encoder cell connected with cable. Two sets experiments are designed test proposed load-releasing method bench-top setup 2 kg, 3.9 human subject 0.5 1 kg. Next, overall scenario including load-compensation carried out eight subjects kg evaluate release time, effort reduction respect non-powered exoskeleton case. Results show that average compensation/release time (payload) among measured as 0.98/0.91 seconds (0.5 kg), 1/0.86 (1 kg). also reported $66.4\%$ , notation="LaTeX">$67.11\%$ respectively.