scholarly journals Optimal Robust Control for a Series Elastic Actuator assisting Knee Joint

2019 ◽  
Vol 13 (2) ◽  
pp. 1-12
Author(s):  
Hadi sabbaghi Kondori ◽  
Ali Karsaz ◽  
◽  
Keyword(s):  
Robust Control ◽  
Knee Joint ◽  
Series Elastic Actuator ◽  
Series Elastic

Gait Phase-Based Control for a Rotary Series Elastic Actuator Assisting the Knee Joint

2011 ◽  
Vol 5 (3) ◽  
Author(s):  
Joonbum Bae ◽  
Kyoungchul Kong ◽  
Masayoshi Tomizuka
Keyword(s):  
Boundary Layer ◽  
Knee Joint ◽  
Sliding Mode ◽  
Human Robot Interaction ◽  
Torque Control ◽  
Modeling Uncertainty ◽  
Series Elastic Actuator ◽  
Chattering Phenomenon ◽  
Assistive Systems ◽  
Series Elastic

Actuators for physical human-robot interaction (pHRI) such as rehabilitation or assistive systems should generate the desired torque precisely. However, the resistive and inertia loads inherent in the actuators (e.g., friction, damping, and inertia) set challenges in the control of actuators in a force/torque mode. The resistive factors include nonlinear effects and should be considered in the controller design to generate the desired force accurately. Moreover, the uncertainties in the plant dynamics make the precise torque control difficult. In this paper, nonlinear control algorithms are exploited for a rotary series elastic actuator to generate the desired torque precisely in the presence of nonlinear resistive factors and modeling uncertainty. The sliding mode control smoothed by a boundary layer is applied to enhance the robustness for the modeling uncertainty without chattering phenomenon. In this paper, the rotary series elastic actuator (RSEA) is installed on the knee joint of an orthosis, and the thickness of the boundary layer is changed by gait phases in order to minimize the torque error without the chattering phenomenon. The performance of the proposed controller is verified by experiments with actual walking motions.

scholarly journals Optimal Design of a Nonlinear Series Elastic Actuator for the Prosthetic Knee Joint Based on the Conjugate Cylindrical Cam

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 140846-140859 ◽  
Author(s):  
Yuanxi Sun ◽  
Pei Tang ◽  
Jia Zheng ◽  
Dianbiao Dong ◽  
Xiaohong Chen ◽  
...  
Keyword(s):  
Optimal Design ◽  
Knee Joint ◽  
Prosthetic Knee ◽  
Series Elastic Actuator ◽  
Prosthetic Knee Joint ◽  
Series Elastic
Sign in / Sign up

Export Citation Format

Share Document