Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 3, Pages 1392-1400Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2687979
Keywords
Force control; lower-limb exoskeleton; series elastic actuator (SEA); time delay control (TDC)
Categories
Funding
- Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Science, ICT, and Future Planning [NRF-2015R1C1A1A01053763]
- Ulsan National Institute of Science and Technology [1.160005.01]
- NRF Grant - Korean Government [NRF-2016R1A5A1938472]
- National Research Foundation of Korea [2015R1C1A1A01053763, 2016R1A5A1938472, 22A20130000116] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Ask authors/readers for more resources
For a physical human-robot interaction (pHRI) system such as an exoskeleton, it has been an important issue to control the interaction force between the user and the actuators because it directly determines the accuracy of the realized impedance. However, the accurate force control of the exoskeleton system has not been fully achieved due to the difficulties caused by uncertainties from pHRI. To overcome this problem, in this study, the series elastic actuator (SEA) was operated by a time delay control (TDC), which directly compensated the uncertainties without an accurate model of them, realizing the designed model dynamics in the actuator. However, in spite of the successful application of TDC, the delays between the desired and model dynamics severely degraded the force control performance of the SEA. Thus, a new strategy named model-inverse time delay control was proposed by introducing a virtual reference predicted by the inverse of model dynamics in TDC. The proposed method significantly improved performance of the force control, and it was verified by demonstrating zero impedance control with pHRI, free oscillation of a pendulum, and force control in the exoskeleton.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available