2014 IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
DOI: 10.1109/iros.2014.6942853
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Oscillation reduction scheme for wearable robots employing linear actuators and sensors

Abstract: While compliance control scheme is done for the wearable robot combined with the linear actuator and sensor on it as intended by the user, oscillations occur due to the joint kinematical mechanism. In this paper, the cause of oscillation on the knee joint is analyzed in detail. Also, it is shown that the moment arm is varied with joint angle, it is confirmed that sensed pressure is changed by the variation. In addition, for canceling the oscillation, torque sensor -using the method to move its force/pressure s… Show more

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