Admittance control of a 1-DoF robotic arm actuated by BLDC motor

Gmerek, Artur; Jezierski, Edward

doi:10.1109/mmar.2012.6347811

Cited by 8 publications

(2 citation statements)

References 9 publications

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“…Establishing the dynamic equations for each device component is an essential aspect of determining how the device interacts with patients' joints, which helps one to improve the mechanical design and tuning the controller system to best match patients' needs. Generally, we followed the approach described in previous studies [21][22][23] to establish the dynamic equations for the device, and the foot drive mechanism which administered plantarflexion /dorsiflexion was assumed to be in a linear motion. In this paper, we establish the dynamic equation of the device based on the Lagrange method.…”

Section: Dynamic Equations Of the Ankle Rehabilitation Devicementioning

confidence: 99%

Archive of Mechanical Engineering

Duc Dao,

Tran,

Pham

et al. 2021

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This study developed an ankle rehabilitation device for post-stroke patients. First, the research models and dynamic equations of the device are addressed. Second, the Sliding Mode Controller for the ankle rehabilitation device is designed, and the device's response is simulated on the software MATLAB. Third, the ankle rehabilitation device is successfully manufactured from aluminum and uses linear actuators to emulate dorsiflexion and plantarflexion exercises for humans. The advantages of the device are a simple design, low cost, and mounts onto rehabilitative equipment. The device can operate fast through experiments, has a foot drive mechanism overshoot of 0 • , and a maximum angle error of 1 • . Moreover, the rehabilitation robot can operate consistently and is comfortable for stroke patients to use. Finally, we will fully develop the device and proceed to clinical implementation.

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Section: Dynamic Equations Of the Ankle Rehabilitation Devicementioning

confidence: 99%

Archive of Mechanical Engineering

Duc Dao,

Tran,

Pham

et al. 2021

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“…Ich prace zademonstrowano w ukła-dzie wykorzystującym silnik bezszczotkowy przedstawionym na rys. 5 [9,10].…”

Section: ǣɩ ăǜř˹˿ ʊ˘ǜ˿˹ȭƭ ˘ ɡɂƞřǜȭɂʋƌǔŭ ɂʊǔŭƿřȭŭ Przez Sterowanieunclassified

Classification of Variable Stiffness Actuators - part 1

Kozakiewicz¹,

Winiarski²

2017

PAR

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ŎƬ˘˹ŘǚŘ ʊǔǄ ȭŘ ǘɁʁ˘˿ʊǜŘȭǔƬ ˘ Řʁǜ˿ǘˁȦˁ ȭŘ ˹ŘʁˁȭǘŘƋǒ ǚǔƋƬȭƋǖǔ ,ʁƬŘǜǔ˸Ƭ ,ɁȧȧɁȭʊ Ę˘ȭŘȭǔƬ ŘˁǜɁʁʊǜ˹Ř ʯƖ1 . WprowadzenieWiększość aktualnie stosowanych manipulatorów stanowią mechanizmy sztywne, sterowane pozycyjnie. Tego typu układy zapewniają dużą precyzję ruchów, ale stanowią znaczne zagrożenie dla wszelkich obiektów, które nieoczekiwanie znajdą się w przestrzeni roboczej robota -w szczególności dla ludzi.Niebezpieczeństwo to można zmniejszyć przez wprowadzenie podatności do przegubów robota. Zabieg ten nie tylko redukuje skutki zderzenia z przeszkodą (korzystnie wpływając na możliwość bezpośredniej współpracy robota z człowiekiem), ale pozwala również magazynować energię.Możliwość płynnej regulacji podatności, w połączeniu z odpowiednim algorytmem sterowania, może przynieść szereg innych wymiernych korzyści -począwszy od zmniejszenia zużycia energii w trakcie powtarzalnych czynności manipulatora przemysłowego, a skończywszy na płynnym chodzie w przypadku robotów kroczących [1].

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Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

et al. 2022

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This paper presents an upper limb exoskeleton that allows cognitive (through electromyography signals) and physical user interaction (through load cells sensors) for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people who suffer from a neurological injury. For the exoskeleton to be easily accepted by patients who suffer from a neurological injury, we used the ISO9241-210:2010 as a methodology design process. As the first steps of the design process, design requirements were collected from previous usability tests and literature. Then, as a second step, a technological solution is proposed, and as a third step, the system was evaluated through performance and user testing. As part of the technological solution and to allow patient participation during the rehabilitation process, we have proposed a hybrid admittance control whose input is load cell or electromyography signals. The hybrid admittance control is intended for active therapy exercises, is easily implemented, and does not need musculoskeletal modeling to work. Furthermore, electromyography signals classification models and features were evaluated to identify the best settings for the cognitive human–robot interaction.

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Admittance control of a 1-DoF robotic arm actuated by BLDC motor

Cited by 8 publications

References 9 publications

Archive of Mechanical Engineering

Archive of Mechanical Engineering

Classification of Variable Stiffness Actuators - part 1

Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

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