Enhancing force controllability by mechanics in exoskeleton design

Dimo, Eldison; Palazzi, Emanuele; Calanca, Andrea

doi:10.1016/j.mechatronics.2022.102867

Cited by 7 publications

(1 citation statement)

References 21 publications

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“…Although force control issues have been deeply investigated over the years, achieving high-quality force control is still challenging. Indeed, control accuracy depends not only on the robot dynamics (which may include undesired nonlinear effects) but also on the unknown environment dynamics, which may critically affect performance and stability [1][2][3]. To shed light on this kind of issue, the benchmarking of force control algorithms has been recently investigated [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Environment Aware Friction Observer with Applications to Force Control Benchmarking

Dimo,

Calanca

2024

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The benchmarking of force control algorithms has been significantly investigated in recent years. High-fidelity experimental benchmarking outcomes may require high-end electronics and mechanical systems not to compromise the algorithm’s evaluation. However, affordability may be highly desired to spread benchmarking tools within the research community. Mechanical inaccuracies due to affordability can lead to undesired friction effects which in this paper are tackled by exploiting a novel friction compensation technique based on an environment-aware friction observer (EA-FOB). Friction compensation capabilities of the proposed EA-FOB are assessed through simulation and experimental comparisons with a widely used static friction model: Coulomb friction combined with viscous friction. Moreover, a comprehensive stability comparison with state-of-the-art disturbance observers (DOBs) is conducted. Results show higher stability margins for the EA-FOB with respect to traditional DOBs. The research is carried on within the Forecast project, which aims to provide tools and metrics to benchmark force control algorithms relying on low-cost electronics and affordable hardware.

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