Compensation control and simulation of a tendon-sheath transmission system applied to lower limb exoskeleton robots

2021 ◽  
Author(s):  
Haimin He ◽  
Ruru Xi ◽  
Youping Gong ◽  
Ban Wang
Keyword(s):  
Lower Limb ◽  
Tendon Sheath ◽  
Transmission System ◽  
Lower Limb Exoskeleton ◽  
Compensation Control

scholarly journals Transmission Characteristics Analysis and Compensation Control of Double Tendon-sheath Driven Manipulator

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1301
Author(s):  
Haoting Wu ◽  
Meng Yin ◽  
Zhigang Xu ◽  
Zhiliang Zhao ◽  
Wei Han
Keyword(s):  
Real Time ◽  
Physical Simulation ◽  
Tendon Sheath ◽  
Transmission System ◽  
Transmission Model ◽  
Transfer Model ◽  
Transmission Characteristics ◽  
Long Distance ◽  
External Interference ◽  
Compensation Control

The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendon-sheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a real-time position compensation control method based on flexible cable deformation is proposed. A double tendon-sheath transmission model is established, a double tendon-sheath torque transmission model under any load condition is derived, and a semi-physical simulation experimental platform composed of a motor, a double tendon-sheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a real-time closed-loop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference.

Analyzing Motor Primitives of Healthy Subjects Wearing a Lower Limb Exoskeleton

2017 ◽  
Author(s):  
Wilian dos Santos ◽  
Samuel Lourenco ◽  
Adriano Siqueira ◽  
Polyana Ferreira Nunes
Keyword(s):  
Lower Limb ◽  
Healthy Subjects ◽  
Motor Primitives ◽  
Lower Limb Exoskeleton

Impedance-based Backdrivability Recovery of a Lower-limb Exoskeleton for Knee Rehabilitation

2019 ◽  
Author(s):  
Miguel D. Sanchez Manchola ◽  
Luis J. Arciniegas Mayag ◽  
Marcela Munera ◽  
Carlos A. Cifuentes Garcia
Keyword(s):  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Knee Rehabilitation

Human-In-the-Loop Control of a Wearable Lower Limb Exoskeleton for Stable Dynamic Walking

2020 ◽  
pp. 1-1
Author(s):  
Zhijun Li ◽  
Kuankuan Zhao ◽  
Longbin Zhang ◽  
Xinyu Wu ◽  
Tao Zhang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Dynamic Walking ◽  
Loop Control ◽  
Human In The Loop ◽  
Lower Limb Exoskeleton

Design of M-G modal space sliding mode control for lower limb exoskeleton robot driven by electrical actuators

Mechatronics ◽  
2021 ◽  
Vol 78 ◽  
pp. 102610
Author(s):  
Jinsong Zhao ◽  
Tao Yang ◽  
Zhilei Ma ◽  
Chifu Yang ◽  
Zhipeng Wang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Exoskeleton Robot ◽  
Modal Space
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