Title: Spinal detection impedance control algorithm based on grey wolf and particle swarm fusion optimisation

Authors: Qunpo Liu; Zhenxing Liu; Jianjun Zhang; Xuhui Bu; Rui Sun

Addresses: School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, China; Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment Jiaozuo, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, China; Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment Jiaozuo, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, China; Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment Jiaozuo, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, China

Abstract: Owing to improper sitting posture and other behaviours, the human spine can undergo deformation, which may lead to various health issues. In order to accurately and timely obtain data on the deformation of the human spine, this study proposes a force feedback-based spinal shape trajectory detection method. Addressing the instability of mechanical arm force control and slow force response due to the uncertainty of skin environmental information in spinal detection, a novel impedance control algorithm based on improved Grey Wolf Optimisation (GWO) is introduced. By incorporating a non-linear convergence factor to enhance the exploration capability of the GWO algorithm and integrating dynamic weighting rules to increase population diversity, the enhanced Grey Wolf Impedance Control method allows for real time adjustment of impedance control parameters. This method exhibits the fastest force response in impedance control and demonstrates excellent force tracking performance when environmental stiffness and desired contact force change.

Keywords: spine detection; impedance control; force tracking; GWO algorithm.

DOI: 10.1504/IJCCPS.2024.145819

International Journal of Cybernetics and Cyber-Physical Systems, 2024 Vol.1 No.4, pp.332 - 348

Received: 04 Mar 2024
Accepted: 28 Mar 2024
Published online: 25 Apr 2025 *

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