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DC Field Value Language Lee, Jinoh - Lee, Chan - Tsagarakis, Nikolaos - Oh, Sehoon - 2019-01-17T07:22:51Z - 2019-01-17T07:22:51Z - 2018-12-24 - 2018-07 -
dc.identifier.citation IEEE Robotics and Automation Letters, v.3, no.3, pp.1442 - 1449 -
dc.identifier.issn 2377-3766 -
dc.identifier.uri -
dc.description.abstract This letter presents an enhanced external torque estimation algorithm for series elastic actuators (SEAs) expanding the usability of the residual-based technique. Although the residual method demonstrates online torque estimation capability in diverse applications and thus becomes popular, it is practically challenging to achieve accurate estimation performance in a wide stiffness range of SEAs. The performance degradation is mainly induced by inaccurate transmission torque information, which is stemmed from unexpected errors in the spring deflection based torque sensing. To overcome the issue, this letter analyses the limitation of the conventional approach in frequency domain and proposes the enhanced residual to be used over a wide stiffness range of SEAs. The performance of proposed method is comparatively verified with conventional method in the both of simulations and experiments. -
dc.language English -
dc.publisher Institute of Electrical and Electronics Engineers Inc. -
dc.title Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach -
dc.type Article -
dc.identifier.doi 10.1109/lra.2018.2800128 -
dc.identifier.wosid 000799102100001 -
dc.identifier.scopusid 2-s2.0-85052369069 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.citation.publicationname IEEE Robotics and Automation Letters -
dc.contributor.nonIdAuthor Lee, Jinoh -
dc.contributor.nonIdAuthor Lee, Chan -
dc.contributor.nonIdAuthor Tsagarakis, Nikolaos -
dc.identifier.citationVolume 3 -
dc.identifier.citationNumber 3 -
dc.identifier.citationStartPage 1442 -
dc.identifier.citationEndPage 1449 -
dc.identifier.citationTitle IEEE Robotics and Automation Letters -
dc.type.journalArticle Article -
dc.description.isOpenAccess N -
dc.subject.keywordAuthor Compliant joint/mechanism -
dc.subject.keywordAuthor flexible robots -
dc.subject.keywordAuthor physical human–robot interaction -
dc.contributor.affiliatedAuthor Lee, Jinoh -
dc.contributor.affiliatedAuthor Lee, Chan -
dc.contributor.affiliatedAuthor Tsagarakis, Nikolaos -
dc.contributor.affiliatedAuthor Oh, Sehoon -
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Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles


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