Independent position-stiffness control for elbow rehabilitation robot with cable-based series elastic actuator

2015 ◽  
Author(s):  
Farhad Parivash ◽  
Mahdi Bamdad
Keyword(s):  
Rehabilitation Robot ◽  
Series Elastic Actuator ◽  
Stiffness Control ◽  
Series Elastic

A novel stiffness control method for series elastic actuator

2017 ◽  
Author(s):  
Guangmo Lin ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Control Method ◽  
Series Elastic Actuator ◽  
Stiffness Control ◽  
Series Elastic

scholarly journals Pneumatic Variable Series Elastic Actuator

2016 ◽  
Vol 138 (8) ◽  
Author(s):  
Hao Zheng ◽  
Molei Wu ◽  
Xiangrong Shen
Keyword(s):  
Equilibrium Point ◽  
Variable Stiffness ◽  
Pneumatic Actuator ◽  
Control Action ◽  
Working Fluid ◽  
Loop Control ◽  
Air Masses ◽  
Series Elastic Actuator ◽  
Stiffness Control ◽  
Series Elastic

Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on–off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.

scholarly journals Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot

2020 ◽  
Vol 14 ◽  
Author(s):  
Qiang Zhang ◽  
Dingyang Sun ◽  
Wei Qian ◽  
Xiaohui Xiao ◽  
Zhao Guo
Keyword(s):  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Modeling And Control ◽  
Series Elastic Actuator ◽  
Limb Rehabilitation ◽  
And Control ◽  
Series Elastic

Torque Control of a Series Elastic Actuator Using an Ultrasonic Motor with Angular-Velocity Saturation

2020 ◽  
Vol 140 (5) ◽  
pp. 378-386
Author(s):  
Toshiya Nakamura ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Angular Velocity ◽  
Ultrasonic Motor ◽  
Torque Control ◽  
Velocity Saturation ◽  
Series Elastic Actuator ◽  
Series Elastic
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