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다기능 재활운동을 위한 힘 센서가 없는상지 재활 로봇의 힘 제어

Title
다기능 재활운동을 위한 힘 센서가 없는상지 재활 로봇의 힘 제어
Translated Title
Sensorless Force Control with Observer for Multi-functional Upper Limb Rehabilitation Robot
Authors
안진웅최정현오세훈
DGIST Authors
안진웅오세훈
Issue Date
2017-09
Citation
로봇학회 논문지, 12(3), 356-364
Type
Article
Keywords
Sensorless Force ControlObserverMulti-Functional Upper Limb Rehabilitation RobotImpedance ControlAssistive Training Mode
ISSN
1975-6291
Abstract
This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.
URI
http://hdl.handle.net/20.500.11750/4866
Publisher
한국로봇학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles
Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles


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