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Wire-tension control using Compact Planetary geared Elastic Actuator

Title
Wire-tension control using Compact Planetary geared Elastic Actuator
Authors
Kwak, JihooLee, ChanKim, JunyoungKim, ShinyoonOh, Sehoon
DGIST Authors
Kwak, Jihoo; Lee, Chan; Kim, Junyoung; Oh, Sehoon
Issue Date
2017-05-30
Citation
2017 IEEE International Conference on Robotics and Automation, ICRA 2017, 3684-3689
Type
Conference
Article Type
Conference Paper
ISSN
1050-4729
Abstract
The tension control of wires can benefit from Series Elastic Actuator (SEA), which is a potential emerging actuator system. In this paper, it is verified that the tension of wires can be successfully controlled by a novel SEA, called Compact Planetary-geared Elastic Actuator (cPEA), which incorporates a planetary gear and a spring to achieve precise force sensing and compactness at the same time. The design of model-based tension control and impedance compensator using cPEA is introduced, and the experiments that show the effectiveness of the proposed control are provided. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/4507
DOI
10.1109/ICRA.2017.7989423
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
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Collection:
Robotics EngineeringREL(Rehabilitation Engineering Laboratory)2. Conference Papers


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