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Mechatronic Considerations for Actuation of Human Assistive Wearable Robotics: Robust Control of a Series Elastic Actuator

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Intelligent Assistive Robots

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 106))

Abstract

To realize ideal force control of robots that interact with a human, a very precise actuating system with zero impedance is desired. For such applications, a rotary series elastic actuator (RSEA) has been introduced recently. This chapter presents the design of RSEA and the associated control algorithms. To generate joint torque as desired, a torsional spring is installed between a motor and a human joint, and the motor is controlled to produce a proper spring deflection for torque generation. When the desired torque is zero, the motor must follow the human joint motion, which requires that the friction and the inertia of the motor be compensated. The human joint and the body part impose the load on the RSEA. They interact with uncertain environments and their physical properties vary with time. In this chapter, the disturbance observer method is applied to make the RSEA precisely generate the desired torque under such time-varying conditions. Based on the nominal model preserved by the disturbance observer, feedback and feedforward controllers are optimally designed for the desired performance: i.e. the RSEA 1) exhibits very low impedance and 2) generates the desired torque precisely while interacting with a human. The effectiveness of the proposed design is verified by experiments.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Sogang University, Seoul, Korea

    Kyoungchul Kong

  2. School of Mechanical and Advanced Materials Engineering, UNIST, Ulsan, Korea

    Joonbum Bae

  3. Department of Mechanical Engineering, University of California, Berkeley, CA, USA

    Masayoshi Tomizuka

Authors
  1. Kyoungchul Kong
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  2. Joonbum Bae
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  3. Masayoshi Tomizuka
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Editor information

Editors and Affiliations

  1. LiSSi Laboratory, University Paris-Est/UPEC, Vitry-sur-Seine, France

    Samer Mohammed

  2. Bioengineering Group (GBIO), Spanish National Research Council (CSIC), Madrid, Spain

    Juan C. Moreno

  3. Department of Mechanical Engineering Robotic Systems Control Laboratory, Sogang University, Seoul, Korea, Republic of (South Korea)

    Kyoungchul Kong

  4. LiSSi Laboratory, University Paris-Est/UPEC, Vitry-sur-Seine, France

    Yacine Amirat

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© 2015 Springer International Publishing Switzerland

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Kong, K., Bae, J., Tomizuka, M. (2015). Mechatronic Considerations for Actuation of Human Assistive Wearable Robotics: Robust Control of a Series Elastic Actuator. In: Mohammed, S., Moreno, J., Kong, K., Amirat, Y. (eds) Intelligent Assistive Robots. Springer Tracts in Advanced Robotics, vol 106. Springer, Cham. https://doi.org/10.1007/978-3-319-12922-8_16

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  • DOI: https://doi.org/10.1007/978-3-319-12922-8_16

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-12921-1

  • Online ISBN: 978-3-319-12922-8

  • eBook Packages: EngineeringEngineering (R0)

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