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Modal force and torque control with wire-tension control using series elastic actuator for body weight support system

Title
Modal force and torque control with wire-tension control using series elastic actuator for body weight support system
Authors
Kwak, Ji HooChoi, Wi HaOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2017-10-31
Citation
43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, 6739-6744
Type
Conference
ISBN
9781538611272
Abstract
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation, modal force and torque control using wire is applied in this paper. The control makes it possible for a subject to generate natural gait motion which is natural in the vertical and medial-lateral movement during gait rehabilitation. To implement modal force and torque control, reference transformation for control of the tension of two wire is suggested. To control the tension of each wire, SEA which is controlled by the model base is utilized. And experiments are performed to assess the control performance. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/6421
DOI
10.1109/IECON.2017.8217177
Publisher
Institute of Electrical and Electronics Engineers Inc.
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
Files:
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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