Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction

Abstract

We present the design of a one-degree-of-freedom ankle actuation platform for human-robot interaction. The platform is actuated with a DC motor through a capstan drive mechanism. The results for platform dynamics identification including friction characterisation are presented. Control experiments demonstrate that a linear regulator with gravity compensation can be used to control the inclination of the platform efficiently.

Haptic Ankle Platform for Interactive Walking in Virtual Reality

“…More technical details on the platform and its control can be found in our earlier publication [33], focused on the design, control, and performance assessment of the platform, which offers a more detailed description.…”

A Suite of Robotic Solutions for Nuclear Waste Decommissioning

“…Reliable, easy to learn, and easy to operate human-machine interfaces are critical for the efficient and safe teleoperation of robotic systems performing tasks in extreme environments. At QMUL we have proposed several novel interaction methods [6,[67][68][69] that utilise virtual reality and haptic technologies (as outlined in the following subsections) to efficiently teleoperate robots located in remote and hazardous environments. The proposed human-machine interfaces can be employed within the integrated telerobotic system shown in Figure 1.…”

“…The device consists of a single actuated foot platform that rotates around the ankle's coronal axis. The platform is actively impedance-controlled around the horizontal state [68]. A seated human operator uses alternate left/right ankle plantar-/dorsi-flexion (foot tapping) as the input walking command for robot teleoperation.…”