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Series Elastic Actuators-Driven Parallel Robot With Wide-Range Impedance Realization for Balance Assessment and Training

Series Elastic Actuators-Driven Parallel Robot With Wide-Range Impedance Realization for Balance Assessment and Training
Lee, HyunwookOh, Sehoon
Issued Date
IEEE/ASME Transactions on Mechatronics, v.27, no.6, pp.4619 - 4630
Author Keywords
Legged locomotionForceRobotsParallel robotsTrainingImpedanceForce controlImpedance controlparallel robotseries elastic actuator
In this article, a novel robotic device is proposed that can realize a large range of compliance and a force sufficient to achieve human-balance training. The proposed device is called a virtual ground robot (VGR) and consists of a 3-degree-of-freedom parallel mechanism, which is driven by three series elastic actuators (SEAs). The proposed VGR can produce a large force and impedance overcoming the limitation of SEA using properly designed parallel legs, 3-PRRS, which can also reduce the size of the VGR. As a result, the proposed VGR can achieve 2.38-times stiffness ellipsoid as a conventional 3-RPS parallel robot. It can also achieve significantly large compliance by exploiting the advantages of SEAs, which have not been realized using conventional motion platforms. The dynamics and kinematics of the VGR are investigated from the SEA space to the entire task space, based upon which, the spatial impedance control of the VGR is designed by utilizing the robust force control of the SEA. The VGR is utilized as a device for measuring and training the balance of a human; a person can stand on the VGR, and balance-related values such as force, position, and center of the pressure are observed and controlled by the robot. The features and performance of the developed robot were theoretically examined and validated experimentally. © 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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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