Design and control of antagonistic robot joint with Twisted String Actuators

Park, Jihyuk; Kim, Jun Hyeok; Kim, Kyung-Soo; Kim, Soohyun

doi:10.1109/urai.2016.7625779

Cited by 8 publications

(4 citation statements)

References 3 publications

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“…Thus, the impedance control is also called the compliant control. The control rules in complex frequency domain can be given in Equation (10).…”

Section: Control Algorithmmentioning

confidence: 99%

“…Specifically, Inertial control simulation was carried out. The control law is shown in Equation (10). The input is the estimated motor torque.…”

Section: Motormentioning

confidence: 99%

“…Small volume and high efficiency are also preferred due to limited space. Therefore, it is of great significance to develop robot joints of tight structure and high torque [1,3,9,10]. Aiming at the exoskeleton application, a high density robot joint is designed in this paper, and the force impedance control method is developed.…”

Section: Introductionmentioning

confidence: 99%

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Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton

et al. 2023

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In many robotic applications, the joint is required to have a small volume, low weight and high torque output. In this paper, based on the finite element analysis (FEA), a 36-slot 40-pole outer rotor surface-mounted permanent magnet (OR-SPM) motor with concentrated winding is designed for the exoskeleton robot. The fractional slot concentrated winding (FSCW) is employed to reduce end winding height, leading better portability. Since the motor is relatively flat, the 3D end effect is critical to the electromagnetic performances. Special attention is paid to 3D end effect during the multi-objective optimization of the OR–SPM motor. In order to increase the ending torque output, the planetary reducer is located between OR–SPM motor and load, and then system level optimization covering motor and reducer is carried out to achieve best torque output. In addition, the force impendence control method with parameter self-adaptive capability is proposed to improve user experience of the exoskeleton robot, where the key parameters in the algorithm vary according to different actions of the exoskeleton. In addition, the inertia of load is calculated using the parameter identification based on least squares method. Finally, the prototype of the joint is fabricated and tested to validate the above FEA results and control method. The user experience of the exoskeleton robot is also covered.

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“…Thus, the impedance control is also called the compliant control. The control rules in complex frequency domain can be given in Equation (10).…”

Section: Control Algorithmmentioning

confidence: 99%

“…Specifically, Inertial control simulation was carried out. The control law is shown in Equation (10). The input is the estimated motor torque.…”

Section: Motormentioning

confidence: 99%

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Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton

et al. 2023

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“…The high transmission ratio of TSAs is attractive for robotic systems [14,35], especially for applications where energy-efficient and costeffective solutions are required, such as robot manipulators [27,25] and grippers, anthropomorphic hands [15,22,20,34], and mobile robots [37], they provide lightweight and highly customizable solutions. Additionally, TSAs have been used successfully in functions that require compact and mechanically simple transmission with some level of compliance; among these, soft robotics [8] and human-machine interaction (HMI) devices like wearable robots and exoskeletons [36,4] or haptic devices [11,33,10,26].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Control Strategy for Force and Precise End Effector Positioning of a Twisted String Actuator

Rodriguez

Hosseini

Paik

2021

IEEE/ASME Trans. Mechatron.

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We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show that measuring the axial force at the base of the actuator, we can effectively estimate and compensate the coupling torque between the motor and the external load. Then, compensation of the coupling torque allows formulating a linear control law to control the angular position of the actuator and, at the same time, implement an external control loop to regulate the force applied by the actuator. Simulated and experimental results validate the proposed original control scheme. Furthermore we highlight the contributions of this work in the broader context of control of twisted string actuators.

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Computational Fluid Dynamics Study of a Soft Actuator for Use in Wearable Mechatronic Devices

Edmonds¹,

Trejos²

2018

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)

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Design and control of antagonistic robot joint with Twisted String Actuators

Cited by 8 publications

References 3 publications

Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton

Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton

Hybrid Control Strategy for Force and Precise End Effector Positioning of a Twisted String Actuator

Computational Fluid Dynamics Study of a Soft Actuator for Use in Wearable Mechatronic Devices

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