Recursive Robust Regulator for Discrete-time Markovian Jump Linear Systems: Control of Series Elastic Actuators
Sign Up to like & getrecommendations! Published in 2017 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2017.08.223
Abstract: Abstract Impedance control for human-robot interaction allows a more secure and controllable robotic rehabilitation. High-performance force control is required to achieve a more precise impedance-controlled robotic therapy using series elastic actuators. However, the performance of… read more here.
Keywords: elastic actuators; series elastic; control; time ... See more keywords
Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators
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DOI: 10.1109/tie.2020.3013751
Abstract: This article offers a new insight to the achievable stiffness limitation of the impedance control of series elastic actuators (SEAs) by suggesting a comparative analysis of energy ports and passivity control framework at the energy… read more here.
Keywords: port; passivity; control; elastic actuators ... See more keywords
Clutched Elastic Actuators
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DOI: 10.1109/tmech.2017.2657224
Abstract: This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability… read more here.
Keywords: functionality; elastic actuators; matrix; cea designs ... See more keywords
A Robust Impedance Controller Design for Series Elastic Actuators using the Singular Perturbation Theory
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DOI: 10.1109/tmech.2019.2951417
Abstract: Impedance control is capable of further flexibly adjusting the driving-point impedance of series elastic actuators (SEAs) in conjunction with impedance reduction by the elastic element. This feature enhances safety and compliance during interaction between humans… read more here.
Keywords: control; theory; elastic actuators; impedance ... See more keywords