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Robust Assistive Force Control of Leg Rehabilitation Robot

Title
Robust Assistive Force Control of Leg Rehabilitation Robot
Authors
Lee, ChanOh, Se Hoon
DGIST Authors
Oh, Se Hoon
Issue Date
2017-07-03
Citation
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, 634-638
Type
Conference
ISSN
2159-6255
Abstract
In this paper, a wire-driven tension control algorithm using a rotary type series elastic actuator is proposed, which is developed for assistive force control of the rehabilitation robots to help the Straight Leg Raise (SLR) exercise. A robot developed to assist SLR exercise is introduced, which adopts Series Elastic Actuator (SEA) as the actuator system and wires as transmission. SEA, which has drawn attentions for its high controllability of force, can also control the tension in the proposed SLR robot. Nonlinearity such as time varying dynamics caused by wire compression, however, deteriorates the torque control performance of SEA. This paper attacks this issue by analyzing the performance of a robust control algorithm using disturbance observer (DOB). The nonlinearity of wire compression and tension is considered model variation, and design methodology for DOB is discussed taking into consideration the model variation. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/5431
DOI
10.1109/AIM.2017.8014088
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
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Collection:
Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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