BROWSE

Related Researcher

Author

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

ITEM VIEW & DOWNLOAD

Active compliance control for the rehabilitation robot with cable driven transmission

Cited 0 times inthomson ciCited 0 times inthomson ci
Title
Active compliance control for the rehabilitation robot with cable driven transmission
Author
Kang, Sang HoonChang, Pyung HunPark, Hyung-Soon
Keywords
능동 컴플라이언스 제어; 힘 센서없는 접촉 힘 추정; 재활 로봇; 임상 평가; 임피던스 제어; 시간 지연을 이용한 제어; 시간 지연 추정; Active Compliance Control; Sensorless F/T sensing; Rehabilitation Robot; Field Evaluation; Impedance Control; KARES II; Time-Delay Control; Time-Delay Estimation
Issue Date
2004
Publisher
Korean Society of Mechanical Engineers
Citation
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS, A, v.28, no.12, pp.1823 - 1832
Abstract
In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.
URI
Go to Link
ISSN
1226-4873
Appears in Collections:
DHE_Journal Papers

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qr_code

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU