Robust Force Control of Series Elastic Actuators
نویسندگان
چکیده
منابع مشابه
Robust Force Control of Series Elastic Actuators
Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...
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Force controlled series elastic actuators (SEA’s) are widely used components of novel physical human-robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based...
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ژورنال
عنوان ژورنال: Actuators
سال: 2014
ISSN: 2076-0825
DOI: 10.3390/act3030182