Comparing Physical Human-Robot Interaction with Spring-and Elastomer-Based Series Elastic Actuators

2018 ◽  
Author(s):  
Christopher Jarrett ◽  
A. J. McDaid
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Series Elastic Actuators ◽  
Series Elastic

Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

2015 ◽  
Vol 31 (5) ◽  
pp. 1089-1100 ◽  
Author(s):  
Haoyong Yu ◽  
Sunan Huang ◽  
Gong Chen ◽  
Yongping Pan ◽  
Zhao Guo
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Interaction Control ◽  
Rehabilitation Robots ◽  
Series Elastic Actuators ◽  
Series Elastic

Human-adaptive control of series elastic actuators

Robotica ◽  
2014 ◽  
Vol 32 (8) ◽  
pp. 1301-1316 ◽  
Author(s):  
Andrea Calanca ◽  
Paolo Fiorini
Keyword(s):  
Adaptive Control ◽  
Adaptive Algorithms ◽  
Rehabilitation Robotics ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Human Dynamics ◽  
Human In The Loop ◽  
Control Response ◽  
Series Elastic Actuators ◽  
Series Elastic

SUMMARYForce-controlled series elastic actuators (SEAs) are the widely used components of novel physical human–robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based controller. Unfortunately, existing passivity-based controllers for SEAs do not define the performance of the force/torque loop. We propose a method to obtain predictable force/torque dynamics based on adaptive control and oversimplified human models. We propose a class of stable human-adaptive algorithms and experimentally show advantages of the proposed approach.

scholarly journals Complementary Stability of Markovian Systems: Series Elastic Actuators and Human-Robot Interaction

2021 ◽  
Vol 54 (4) ◽  
pp. 112-117
Author(s):  
Andres L. Jutinico ◽  
Oscar Flórez-cediel ◽  
Adriano A.G. Siqueira
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Markovian Systems ◽  
Series Elastic Actuators ◽  
Series Elastic

Impedance control of a cable-driven SEA with mixed H2/H∞ synthesis

2017 ◽  
Vol 37 (3) ◽  
pp. 296-303 ◽  
Author(s):  
Ningbo Yu ◽  
Wulin Zou
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Impedance Control ◽  
Low Frequency ◽  
Human Robot Interaction ◽  
Control Input ◽  
Robot Interaction ◽  
Content Type ◽  
Series Elastic Actuator ◽  
Series Elastic

Purpose This paper aims to present an impedance control method with mixed H2/H∞ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human–robot interaction. Design/methodology/approach To shape the system’s impedance to match a desired dynamic model, the impedance control problem was reformulated into an impedance matching structure. The desired competing performance requirements as well as constraints from the physical system can be characterized with weighting functions for respective signals. Considering the frequency properties of human movements, the passivity constraint for stable human–robot interaction, which is required on the entire frequency spectrum and may bring conservative solutions, has been relaxed in such a way that it only restrains the low frequency band. Thus, impedance control became a mixed H2/H∞ synthesis problem, and a dynamic output feedback controller can be obtained. Findings The proposed impedance control strategy has been tested for various desired impedance with both simulation and experiments on the cable-driven series elastic actuator platform. The actual interaction torque tracked well the desired torque within the desired norm bounds, and the control input was regulated below the motor velocity limit. The closed loop system can guarantee relaxed passivity at low frequency. Both simulation and experimental results have validated the feasibility and efficacy of the proposed method. Originality/value This impedance control strategy with mixed H2/H∞ synthesis and relaxed passivity provides a novel, effective and less conservative method for physical human–robot interaction control.

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