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Gravity and Impedance Compensation of Body Weight Support System Driven by Two Series Elastic Actuators

Gravity and Impedance Compensation of Body Weight Support System Driven by Two Series Elastic Actuators
Kwak, JihooChoi, WihaLee, ChanOh, Sehoon
DGIST Authors
Kwak, JihooChoi, WihaLee, ChanOh, Sehoon
Issued Date
Author Keywords
WiresForceActuatorsRobotsTorqueMechatronicsIEEE transactionsAssistive technologyforce controlinteractive systemseries elastic actuator
Robotic devices that can support a human's motions, such as exoskeletons, have recently drawn attention. Body weight support (BWS) systems are potential robotic devices that support and assist trunk motions with elaborate force control for rehabilitation and training exercises. This research presents a BWS system with two-dimensional motion assistance controlled by two series elastic actuators, which can perform not only weight compensation but also impedance compensation for trunk motion assistance. As the core technology of the proposed system, a wire-driven mechanism is developed that consists of a compact planetary-geared elastic actuator (cPEA), which is a series elastic actuator. All the dynamic aspects of the cPEA output torque, the tension-generating system using a winding drum, and the dynamics interacting with the BWS system are analyzed and used to design a motion assistive controller. The functionality and ability of the proposed system are validated through experiments performed under various conditions. The results verify that the dynamic behavior of trunk motion can be assisted by the impedance control of the proposed BWS system. In particular, the inertial force required for the trunk motion can be reduced by the proposed BWS system. IEEE
Institute of Electrical and Electronics Engineers
Related Researcher
  • 오세훈 Oh, Sehoon 로봇및기계전자공학과
  • 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 and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles


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