Admittance Control of Powered Exoskeletons Based on Joint Torque Estimation

Simulation of the Admittance Control Based Haptic Interface Device

Observer Based Method for Joint Torque Estimation in Active Orthoses ?

This contribution presents a new approach of estimating the joint torques for an active orthosis. The new approach combines inverse dynamics and measured ground reaction forces. The joint torques can easily be computed from the ground reaction forces, but the measurement is usually flawed. An obsererver is employed to estimate the disturbance of the measurements and restore the original joint t...

A Simplified Variable Admittance Controller Based on a Virtual Agonist-Antagonist Mechanism for Robot Joint Control

In this paper, we propose a simplified variable admittance controller applied to robot joint control. It is based on a virtual agonist-antagonist mechanism (VAAM) consisting of contractile and parallel elements (CEs and PEs). ”Virtual” here means that every joint physically actuated by a standard servo motor can produce variably compliant motions as if it were driven by a pair of agonist and an...

Torque Sensors for Robot Joint Control

In the field of service robotics, there is a growing need for robots capable of physical interaction with humans to assist with daily life tasks. The desired coexistence of robotic systems and humans in the same physical domain (sharing the same workspace and actually cooperating in a physical manner) poses very fundamental problem of ensuring safety to the user and robot. Even without wrong pr...

Supporting Materials: Performance of prominent torque control methods for tethered lower-limb exoskeletons during human walking

Experiments were conducted over the course of 3 days, with all data for each high-level assistance controller collected on the same day. Low-level torque controllers were collected in the same order for each high-level controller, except for a change in the order of the PAS controller for the Time-based desired torque (which was accidentally skipped, then caught at the end of the collection). T...