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
Quasi-Distributed Torque and Displacement Sensing on a Series Elastic Actuator’s Spring Using FBG Arrays Inscribed in CYTOP Fibers
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2019.2898722
Abstract: We report the application of fiber Bragg grating (FBG) arrays in polymer optical fibers for the quasi-distributed displacement and torque sensing in a series elastic actuator’s spring. The arrays were inscribed in cyclic transparent optical… read more here.
Keywords: fbg arrays; elastic actuator; sensing series; spring ... See more keywords
Performance Analysis of Series Elastic Actuator Based on Maximum Torque Transmissibility
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3059284
Abstract: Series elastic actuators (SEAs) have had sound contributions in the robotics field, and significant breakthroughs have been achieved. Despite this fact, there are still drawbacks to their performance. The elastic spring, which provides compliance, limits… read more here.
Keywords: torque transmissibility; performance; maximum torque; sea ... See more keywords
Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Industrial Electronics"
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
A Robust Impedance Controller Design for Series Elastic Actuators using the Singular Perturbation Theory
Sign Up to like & getrecommendations! Published in 2020 at "IEEE/ASME Transactions on Mechatronics"
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
Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Haptics"
DOI: 10.1109/toh.2021.3140143
Abstract: Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity… read more here.
Keywords: series elastic; control; force; null impedance ... See more keywords
A Fundamental Limitation of Passive Spring Rendering With Series Elastic Actuation.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on haptics"
DOI: 10.1109/toh.2023.3260063
Abstract: We establish a fundamental limitation of stiffness rendering with series elastic actuation by rigorously proving that no causal controller can passively render virtual stiffness levels that are higher than the stiffness of the physical series… read more here.
Keywords: series elastic; series; stiffness; fundamental limitation ... See more keywords
An Elbow Exoskeleton for Upper Limb Rehabilitation With Series Elastic Actuator and Cable-Driven Differential
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2019.2930915
Abstract: Movement impairments resulting from neurologic injuries, such as stroke, can be treated with robotic exoskeletons that assist with movement retraining. Exoskeleton designs benefit from low impedance and accurate torque control. We designed a two-degrees-of-freedom tethered… read more here.
Keywords: exoskeleton; cable driven; driven differential; series elastic ... See more keywords
Adaptive state feedback controller design for a rotary series elastic actuator
Sign Up to like & getrecommendations! Published in 2017 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/0142331215600779
Abstract: The design of human assistive systems requires actuators that are capable of producing compliant motions. One key technological development for this compliant actuation is series elastic actuation, which is a challenging design problem, as the… read more here.
Keywords: state; series elastic; series; controller ... See more keywords