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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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Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human-Robot Interaction Applications

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Title
Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human-Robot Interaction Applications
Author
Kong, KyoungchulBae, JoonbumTomizuka, Masayoshi
Keywords
Disturbance observer (DOB); Force-mode control; Human-robot interaction; Motor impedance; Rotary series elastic actuator (RSEA)
Issue Date
2009-02
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.14, no.1, pp.105 - 118
Abstract
To realize ideal force control of robots that interact with a human, a very precise actuating system with zero impedance is desired. For such applications, a rotary series elastic actuator (RSEA) has been introduced recently. This paper presents the design of RSEA and the associated control algorithms. To generate joint torque as desired, a torsional spring is installed between a motor and a human joint, and the motor is controlled to produce a proper spring deflection for torque generation. When the desired torque is zero, the motor must follow the human joint motion, which requires that the friction and the inertia of the motor be compensated. The human joint and the body part impose the load on the RSEA. They interact with uncertain environments and their physical properties vary with time. In this paper, the disturbance observer (DOB) method is applied to make the RSEA precisely generate the desired torque under such time-varying conditions. Based on the nominal model preserved by the DOB, feedback and feedforward controllers are optimally designed for the desired performance, i.e., the RSEA: 1) exhibits very low impedance and 2) generates the desired torque precisely while interacting with a human. The effectiveness of the proposed design is verified by experiments.
URI
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DOI
10.1109/TMECH.2008.2004561
ISSN
1083-4435
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