Wire-tension control using Compact Planetary geared Elastic Actuator
- Title
- Wire-tension control using Compact Planetary geared Elastic Actuator
- Author(s)
- Kwak, Jihoo ; Lee, Chan ; Kim, Junyoung ; Kim, Shinyoon ; Oh, Sehoon
- DGIST Authors
- Kwak, Jihoo ; Lee, Chan ; Kim, Junyoung ; Oh, Sehoon
- Issued Date
- 2017-05-30
- Type
- Conference
- Article Type
- Conference Paper
- ISSN
- 1050-4729
- Abstract
- The tension control of wires can benefit from Series Elastic Actuator (SEA), which is a potential emerging actuator system. In this paper, it is verified that the tension of wires can be successfully controlled by a novel SEA, called Compact Planetary-geared Elastic Actuator (cPEA), which incorporates a planetary gear and a spring to achieve precise force sensing and compactness at the same time. The design of model-based tension control and impedance compensator using cPEA is introduced, and the experiments that show the effectiveness of the proposed control are provided. © 2017 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Related Researcher
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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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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 2. Conference Papers
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