Passivity guaranteed stiffness control with multiple frequency band specifications for a cable-driven series elastic actuator
نویسندگان
چکیده
منابع مشابه
Modeling and control of a cable-driven series elastic actuator
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...
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Rehabilitation and assistive systems such as rotary series elastic actuators (RSEA) should provide the desired torque precisely. In this paper, to improve the life quality of those who suffer from weak knees, the control problem of a rotary series elastic actuator (RSEA) has been studied in order to generate soft human walking motion. These actuators produce the require torque, but the nonlinea...
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Exoskeletons have been used for human performance restoration and enhancement for many years. Due to the dynamic nature of human locomotion, torque control is widely used in lower-limb exoskeleton assistance during stance phases of walking. In these systems, series-elastic actuators (SEA) are commonly used to provide low error torque tracking in the presence of unknown and changing human dynami...
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Series Elastic Actuators have linear springs intentionally placed in series between the motor and actuator output. The spring strain is measured to get an accurate estimate of force. Despite using a transmission to achieve high force/mass and high power/mass, the spring allows for good force control, high force fidelity, minimum impedance, and large dynamic range. A second order linear actuator...
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ژورنال
عنوان ژورنال: Mechanical Systems and Signal Processing
سال: 2019
ISSN: 0888-3270
DOI: 10.1016/j.ymssp.2018.08.007