scholarly journals Design and control of a passive compliant actuation with positioning measurement by LED and photodiode detector for medical application

2021 ◽  
Vol 54 (3-4) ◽  
pp. 216-230
Author(s):  
Anan Suebsomran
Keyword(s):  
Supervisory Control ◽  
Electromagnetic Interference ◽  
Medical Application ◽  
Torque Control ◽  
Assistive Device ◽  
Joint Control ◽  
Design Error ◽  
Exoskeleton Robot ◽  
Compliant Actuation ◽  
Wearable Exoskeleton

Control of assistive exoskeleton robot recently has to be crucial of development and innovation of medical application. To support daily motions for humans, control application of assistive exoskeleton robot allows for limb movement with increased strength and endurance during patient’s wearable exoskeleton robot application. The interaction between such exoskeleton device and the human body at the connecting joint, especially the knees, is the main interest of this design formation. The assistive device requires to design and to develop into innovation design aspect. This research presents the novel design of an active compliant actuation joint in order to increasing the higher torque of actuation than conventional actuation joint. Control design of the higher torque actuation usually difficult priori to conventional torque control. This will contributed to applying the supervisory control for compliant actuation that verified by experiment method. Then the hybrid Radial Basis Function neural network (RBFNN) and PID were proposed for actuating torque control methods. Experimental results show that the design of supervisory control is get better response, and higher producing torque output than the conventional design. Error of torque control of compliant actuation is not instead of [Formula: see text] N·m for applying supervisory control, RBFNN with PID controller. Indeed, the low electromagnetic interference (EMI) positioning system using LED and photodiode detector is proposed to be usable in medical application.

scholarly journals Compliant control for wearable exoskeleton robot based on human inverse kinematics

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881213 ◽  
Author(s):  
Brahim Brahmi ◽  
Maarouf Saad ◽  
Abdelkrim Brahmi ◽  
Cristobal Ochoa Luna ◽  
Mohammad Habibur Rahman
Keyword(s):  
Inverse Kinematics ◽  
Sliding Mode ◽  
New Technology ◽  
Time Delay Estimation ◽  
Compliance Control ◽  
Exoskeleton Robot ◽  
Main Challenge ◽  
Compliant Control ◽  
Wearable Exoskeleton ◽  
Set Up

Rehabilitation robots are a new technology dedicated to the physiotherapy and assistance motion and has aroused great interest in the scientific community. These kinds of robots have shown a high potential in limiting the patient’s disability, increasing its functional movements and helping him/her in daily living activities. This technology is still an emerging area and suffers from many challenges like compliance control and human–robot collaboration. The main challenge addressed in this research is to ensure that the exoskeleton robot provides an appropriate compliance control that allows it to interact perfectly with humans. This article investigates a new compliant control based on a second-order sliding mode with adaptive-gain incorporating time delay estimation. The control uses human inverse kinematics to complete active rehabilitation protocols for an exoskeleton robot with unknown dynamics and unforeseen disturbances. The stability analysis is formulated and demonstrated based on Lyapunov function. An experimental physiotherapy session with three healthy subjects was set up to test the effectiveness of the proposed control, using virtual reality environment.

scholarly journals Design of Supervisory Control for Speed Control of Wind Turbine using Torque-Control Method Based on Buck Converter

2020 ◽  
Vol 190 ◽  
pp. 00019
Author(s):  
Katherin Indriawati ◽  
Choirul Mufit ◽  
Andi Rahmadiansah
Keyword(s):  
Wind Turbine ◽  
Wind Turbines ◽  
Supervisory Control ◽  
Control Method ◽  
Speed Control ◽  
Buck Converter ◽  
Torque Control ◽  
Control Mode ◽  
Rotor Speed ◽  
Integral Control

The variation of wind speed causes the electric power generated by the turbine also varies. To obtain maximum power, the rotor speed of wind turbines must be optimally rated. The rotor speed can be controlled by manipulating the torque from the generator; this method is called Torque Control. In that case, a DC-DC converter is needed as the control actuator. In this study, a buck converter-based supervisory control design was performed on the Horizontal-axis wind turbines (HAWT). Supervisory control is composed of two control loops arranged in cascade, and there is a formula algorithm as the supervisory level. The primary loop uses proportional control mode with a proportional gain of 0.3, whereas in the secondary loop using proportional-integral control mode with a proportional gain of 5.2 and an integral gain of 0.1. The Supervisory control has been implemented successfully and resulted in an average increase in turbine power of 4.1 % at 5 m s–1 and 10.58 % at 6 m s–1 and 11.65 % at 7 m s–1, compared to wind turbine systems without speed control.

Robust Tracking Control of a Direct Drive Robot

1999 ◽  
Vol 121 (2) ◽  
pp. 261-269 ◽  
Author(s):  
Bong Soo Kang ◽  
Soo Hyun Kim ◽  
Yoon Keun Kwak ◽  
Craig C. Smith
Keyword(s):  
Tracking Control ◽  
Torque Control ◽  
Joint Control ◽  
Robust Tracking ◽  
Direct Drive ◽  
Robust Tracking Control ◽  
Tracking Errors ◽  
Robust Controller ◽  
Residual Errors ◽  
Computed Torque

This paper presents a robust controller for tracking control of a direct-drive robot. The proposed controller consists of two portions: a computed torque method which precompensates for dynamics of the modeled plant and an H∞ controller which postcompensates for residual errors which are not completely removed by the computed torque method. Experimental methods for identifying appropriate model structure and parameters are presented, and three specific controller types are compared. Using the robot designed in our laboratory, the combined controller reduced tracking errors by one half compared to computed torque control alone, and by one sixth compared to conventional independent joint control.

scholarly journals Applying fiber-optic system to control shaft torque

2021 ◽  
Vol 2021 (3) ◽  
pp. 101-106
Author(s):  
Alexander Sergeevich Bordyug
Keyword(s):  
Strain Gauge ◽  
Electromagnetic Interference ◽  
Oil And Gas ◽  
Fiber Optic ◽  
Electrical Equipment ◽  
Torque Control ◽  
Measuring System ◽  
Degree Of Protection ◽  
Fabry Perot ◽  
Fiber Optic System

The article considers the procedure of torque control, which is very popular in a wide variety of industries with many design features. In marine power engineering the problems of determining the forces, torque on the shaft and power are solved by means of torsiometers with torque sensors. The most widely used torque sensors are of capacitive, induction, strain gauge and photoelectric types. It has been stated that there are limitations in the process of torque control due to the susceptibility of systems to the electromagnetic interference, lack of a high degree of protection for electrical equipment and necessary recalibration. Fiber optic systems have found application in torque measurement systems in the oil and gas and aerospace industries. The use of such systems on ships is more expensive in comparison with the technologies used today, for example, the systems based on strain gauges. It has been proposed to use an inexpensive optical measuring system based on the Pound-Drever-Hall technique with using a foil-clad strain gauge and an aluminum torsion rod. There has been illustrated the system of torque control, the phase graphs for the Fabry-Perot resonator and the graph of the resonator transmission spectrum are presented, the reflection coefficient value is given. A method for measuring the phase of a reflected beam from a Fabry-Perot resonator is being considered, the injection current of a laser is modulated by means of an electric oscillator to generate side stripes in the electric field of a laser beam. The carried out studies and calculations contribute to improving the reliability of the coastal power system; the possibility of their use in marine electrical systems has been proved.

Torque-control based compliant actuation of a quadruped robot

2012 ◽  
Author(s):  
Michele Focchi ◽  
Thiago Boaventura ◽  
Claudio Semini ◽  
Marco Frigerio ◽  
Jonas Buchli ◽  
...  
Keyword(s):  
Quadruped Robot ◽  
Torque Control ◽  
Compliant Actuation

scholarly journals Design and Development of a Wearable Exoskeleton System for Stroke Rehabilitation

Healthcare ◽  
2020 ◽  
Vol 8 (1) ◽  
pp. 18
Author(s):  
Yang-Kun Ou ◽  
Yu-Lin Wang ◽  
Hua-Cheng Chang ◽  
Chun-Chih Chen
Keyword(s):  
Daily Living ◽  
Human Factor ◽  
Assistive Device ◽  
Loss Of Function ◽  
Stroke Patients ◽  
Motor Activities ◽  
Task Training ◽  
Wearable Exoskeleton ◽  
Anterior Support ◽  
Exoskeleton Device

For more than a decade, many countries have been actively developing robotic assistive devices to assist in the rehabilitation of individuals with limb disability to regain function in the extremities. The exoskeleton assistive device in this study has been designed primarily for hemiplegic stroke patients to aid in the extension of fingers to open up the palm to simulate the effects of rehabilitation. This exoskeleton was designed as an anterior-support type to achieve palmar extension and acts as a robotic assistive device for rehabilitation in bilateral upper limb task training. Testing results show that this wearable exoskeleton assistive device with human factor consideration using percentile dimensions can provide comfortable wear on patients as well as adequate torque to pull individual fingers into flexion towards the palm for rehabilitation. We hope this exoskeleton device can help stroke patients with loss of function in the upper extremities to resume motor activities in order to maintain activities of daily living.

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