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Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems
  • Soft robotics
  • Intelligent interaction algorithms for virtual reality, tele-operation and rehabilitation
  • Bio-inspired robotics for improved mobility

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Torque Control of a Series Elastic Tendon-sheath Actuation Mechanism

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Title
Torque Control of a Series Elastic Tendon-sheath Actuation Mechanism
Author
Jung, YeongtaeBae, Joonbum
Issue Date
2020-12
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.25, no.6, pp.2915 - 2926
Abstract
Tendon-sheath actuation mechanisms can provide compact and lightweight tendon routing. However, torque control of a tendon-sheath actuation system is challenging because of variable friction with respect to the sheath configuration. Model-based feedforward friction compensation algorithms have been developed to accurately deliver desired torque, but it is difficult to apply such algorithms to multi-degrees of freedom (DOFs) systems because of changes in sheath configurations that in turn alter the base tension and friction parameters. In this article, we develop a series elastic tendon-sheath actuation mechanism that allows feedforward torque control in multi-DOFs systems. The mechanism features series elastic elements on the motor side to reduce base tension changes and enable accurate input torque control. Friction is compensated by a feedforward controller with a modeled friction parameter to transmit desired torque to the distal joint under varying sheath configurations. The performance of the proposed series elastic tendon-sheath actuation mechanism is demonstrated in experiments using a control interface for a tele-operation system.
URI
https://scholarworks.unist.ac.kr/handle/201301/32066
URL
https://ieeexplore.ieee.org/document/9102410
DOI
10.1109/TMECH.2020.2997945
ISSN
1083-4435
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