Force-Mode Control of Rotary Series Elastic Actuators in a Lower Extremity Exoskeleton Using Model-Inverse Time Delay Control

Kim, Suin; Bae, Joonbum

doi:10.1109/tmech.2017.2687979

Cited by 95 publications

(24 citation statements)

References 39 publications

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“…The SEA protects the robot from shock when it collides with an object [57]. It is even applied in exoskeletons for interactive force control between human and the robot coworker [91]. Despite the success of SEA, it may not be the best actuator for robots that need high degrees of stiffness.…”

Section: Hydraulic Actuatorsmentioning

confidence: 99%

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Ogenyi

Liu

Yang

et al. 2021

IEEE Trans. Cybern.

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This paper presents a state-of-the-art survey on robotic systems, sensors, actuators and collaborative strategies for Physical Human-Robot Collaboration (pHRC). The paper starts with an overview of some robotic systems with cuttingedge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances made, some research directions, and future challenges are presented.

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Section: Hydraulic Actuatorsmentioning

confidence: 99%

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Ogenyi

Liu

Yang

et al. 2021

IEEE Trans. Cybern.

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“…The zero torque controller is actually a position controller as the torque of the MACCEPAs can be directly estimated from the joint angle, in much the same way as a SEA. Kim et al [125] have proposed a control method called "model-inverse time delay control" (MiTDC) for lower-extremity exoskeleton systems driven by a SEA. MiTDC improves upon TDC by adding in virtual referencing.…”

Section: Interaction Force-based Torque Assistmentioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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“…Different from the existing TDC schemes [14][15][16][17][18][19][20][21][22][23][24][25][26][27], our proposed TDC scheme uses a combined reaching law to enhance the control performance under time-varying uncertainties. Taking (9) and (10) for further analysis, we can see that the combined reaching law has two elements, i.e., a well-known fast-TSM-type reaching law and a constant speed reaching law with adaptive gain.…”

Section: Tdc Scheme Design With Antsm Dynamicsmentioning

confidence: 99%

“…Equation (30) will still be NTSM manifold form as (7) under the condition that ( − (̇) − ) > 0 holds; therefore, will converge to the following field within finite time: Thus, the system trajectories will be enforced into the field (27), (31), and (32) within finite time. Then, the stability of the closed-loop control system is proved.…”

Section: Stability Analysismentioning

confidence: 99%

“…The core element of TDC scheme is 2 Mathematical Problems in Engineering the so-called time delay estimation (TDE), which uses the time-delayed values of the system states to estimate the remaining system dynamics and ensures a model-free feature. Thanks to the above attractive feature, TDC control has been widely used in lots of systems [21][22][23][24][25][26][27]. By combining TDE with other robust control schemes, exciting results have been obtained.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A New Model-Free Trajectory Tracking Control for Robot Manipulators

Wang

Zhu

Chen

et al. 2018

Mathematical Problems in Engineering

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In this paper, we propose a novel model-free trajectory tracking control for robot manipulators under complex disturbances. The proposed method utilizes time delay control (TDC) as its control framework to ensure a model-free scheme and uses adaptive nonsingular terminal sliding mode (ANTSM) to obtain high control accuracy and fast dynamic response under lumped disturbance. Thanks to the application of adaptive law, the proposed method can ensure high tracking accuracy and effective suppression of noise effect simultaneously. Stability of the closed-loop control system is proved using Lyapunov method. Finally, the effectiveness and advantages of the newly proposed TDC scheme with ANTSM dynamics are verified through several comparative simulations.

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Force-Mode Control of Rotary Series Elastic Actuators in a Lower Extremity Exoskeleton Using Model-Inverse Time Delay Control

Cited by 95 publications

References 39 publications

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

A New Model-Free Trajectory Tracking Control for Robot Manipulators

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