外观
论文arXiv 2610.2153413 天前
面向按需辅助上肢机器人的归因门控意图与能力联合估计
原文链接：Attribution-Gated Joint Estimation of Intention and Capability for Assist-as-Needed Upper-Limb Robots（arXiv 2610.21534 · 发布日期：2026-10-15）
Attribution-Gated Joint Estimation of Intention and Capability for Assist-as-Needed Upper-Limb Robots
针对AAN难分意图运动与自愿力矩能力变化，提出归因门控MHE-MPC，并在健康受试者目标与疲劳任务中验证。
核心要点
- AAN控制中，意图运动和有效自愿力矩能力变化可产生相似响应，易混淆。
- 方法在线分离估计意图轨迹和任务相关力矩能力，并用归因门分配更新。
- 9名健康参与者完成目标高度-负载试验，以及疲劳前后杯子搬运任务。
- 无目标高度输入时参考排序正确；九种条件均获最低RMSE，疲劳后辅助增加。
验证范围与局限：验证范围为9名健康参与者的目标高度-负载试验和疲劳前后杯子搬运任务。
英文摘要 (Abstract)
Assist-as-needed (AAN) control must distinguish between changes in intended motion and changes in effective voluntary torque capability, even though both can produce similar kinematic and interaction responses. A dual-measurand multimodal MHE-MPC architecture is developed as the base framework, in which the intended trajectory and the task-dependent effective voluntary torque capability are estimated online as distinct quantities, and both estimates are used to adapt robotic assistance. Building on this architecture, the ambiguity between the two update channels is formulated as a continuous credit-assignment problem and resolved by an attribution gate. A trajectory-change indicator is obtained from persistent corrective interaction, whereas a capability-change indicator is derived from the residual between normalized muscle activation and dynamics-reconstructed voluntary torque. Nine healthy participants completed factorial target-height-load trials and a pre-post fatigue cup-transport task. Without target-height input, the gated method generated correctly ordered Low-Middle-High references under every load: target changes were preferentially assigned to trajectory adaptation, whereas added load shifted adaptation toward the capability channel. It achieved the lowest RMSE in all nine conditions (0.017 rad versus 0.041 rad for ungated dual estimation and 0.127 rad for fixed-reference error-based AAN). Post-fatigue capability estimates decreased and assistance increased at all heights, supporting functional feasibility.
作者：Pengcheng Li, Shuxiang Guo, Hanze Wang, Jun Leng, Bin Wang, Mingchao Ding
来源
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