2026/06/30 by Yongyan Cao, Jinshan Tang
Engineering · Computer Science · Physics and Astronomy · #eess.SY #cs.HC #cs.NE #cs.RO #cs.SY #physics.med-ph
arxiv created 2026/08/03 · arxiv updated 2026/08/04
Safe rehabilitation is an interaction-dynamics problem: the controller must regulate a prescribed motion while absorbing involuntary spasm, voluntary effort, actuator compliance, and model mismatch as disturbances. This paper instantiates the predictive interaction-dynamics framework of the base pHRI formulation on a SEA knee joint. SEA feedforward reduces the gravity-compensated knee to the same scalar double integrator as the base framework, while a dynamic-residual measurement from spring deflection supplies an interaction-disturbance observation. A steady-state target converts the estimated disturbance into a cancelling input, and a finite-horizon quadratic program regulates deviations from that target under range-of-motion, torque, and velocity constraints. The evaluation matches stiffness and damping across controllers so gains cannot be attributed to higher impedance. Under a motion-opposing 15\unitNm step, classical impedance and MPC without estimation produce about 500\unitmrad steady-state error, whereas Kalman-augmented interaction MPC reduces this to 1.17\unitmrad at 100~Hz and 0.70\unitmrad at 500~Hz; the 500~Hz peak is 7.27\unitmrad. In 30 randomized trials, the 95th-percentile peak is 21.57\unitmrad. Bounded Assist-as-Needed scheduling, a corrective-channel energy tank, constrained OSQP stress cases, direct MuJoCo execution, and a posture-clamped MyoSuite knee slice are implemented. The framework holds on a single-mass, closed-inner-loop SEA approximation; an explicit two-mass plant with a finite-bandwidth, pole-placed inner torque loop (Section~VIII) confirms this for nominal tracking but shows delivered torque can overshoot the commanded bound by 21.7% near saturation. Scope excludes clinical intent recognition, full-system passivity, safety certification, hardware trials, and multi-joint validation.