Determining reaction forces in planar mechanisms

Sanh, Do; Phong, Dinh Van; Khoa, Do Dang; Phong, Phan Dang

doi:10.15625/0866-7136/31/1/5494

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Feedback Hybrid Interaction Force and Position Control Design2

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2023

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“…( 3). It is constructed in matrix form, which is suitable for a Multi Degree of Freedom (MDOF) system [15]:…”

Section: Feedback Hybrid Interaction Force and Position Control Designmentioning

confidence: 99%

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Feedback hybrid force and position control of an upper limb exoskeleton to support human movement

Nguyen,

Parnichkun

et al. 2023

Robot. syst., appl.

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In the paper, a feedback hybrid control including a force feedback control and a position control is proposed to control a four degree of freedom (4-dof) upper limb exoskeleton for supporting human movement at the shoulder, elbow and wrist joints. The novelty of the paper is that it has been able to control all the interaction forces at all links in the exoskeleton robot by using the proposed control. The desired interaction forces at the links and desired position are compared with the measured interaction forces and position, respectively. Then the torque at the shoulder, the torque elbow and the torque wrist joints are controlled to compensate the force error and the position error. The gains of the proposed controller are optimized by using the Balancing Composite Motion Optimization (BCMO). The simulation and control of the 4-dof upper limb exoskeleton using the proposed control is carried out in the paper to show that the interaction forces and the position of the exoskeleton track their desired values.

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“…( 3). It is constructed in matrix form, which is suitable for a Multi Degree of Freedom (MDOF) system [15]:…”

Section: Feedback Hybrid Interaction Force and Position Control Designmentioning

confidence: 99%

“…Substitute Eqs. ( 14) in (15), the relationship between the output torque generated by motor 𝑖 and control voltage 𝑈 (𝑖 = 1,…, 4), when 𝐿 ≈ 0 and negligible, is as follows:…”

Section: Fig 2 Block Diagram Of Feedback Hybrid Interaction Force And...mentioning

confidence: 99%

Feedback hybrid force and position control of an upper limb exoskeleton to support human movement

Nguyen,

Parnichkun

et al. 2023

Robot. syst., appl.

View full text Add to dashboard Cite

show abstract

Determining reaction forces in planar mechanisms

Cited by 1 publication

References 2 publications

Feedback hybrid force and position control of an upper limb exoskeleton to support human movement

Feedback hybrid force and position control of an upper limb exoskeleton to support human movement

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