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High Fidelity Impedance Control of Series Elastic Actuator for Physical Human-machine Interaction

High Fidelity Impedance Control of Series Elastic Actuator for Physical Human-machine Interaction
Lee, ChanCheon, DasolOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019, 3621-3626
This paper proposes a novel control system using a Series Elastic Actuator (SEA) for human-machine interactive applications. SEA allows high torque transparency between a forward and a backward torque transmission with the geared motor and the closed-loop controller and it so enables that human-friendly interaction is achieved. Even though the torque-controlled SEA system plays important roles in human-machine interactive applications, there is performance limitation to implement pure interactive behavior due to the imperfection of torque source such as torque ripple of the electric motor. The limitation of SEA causes the uncomfortable feeling to the human in the application such as steer-by-wire system which is the target system in this paper. This paper focuses on the minimization of the influence that is caused by the torque ripple of the electric motor in the SEA system. The proposed controller based on the principle of Disturbance Observer (DOB) is designed to realize the desired human-machine interactive behavior. Experiments have been conducted to explore the characteristics of SEA system and to verify the performance of the proposed controller. © 2019 IEEE.
IEEE Computer Society
Related Researcher
  • Author Oh, Sehoon 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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Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers

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