Oscillation reduction scheme for wearable robots employing linear actuators and sensors

Choo, Junghoon; Jeong, Dong-Hyun; Jeong, Seungwoo; Chu, Gilwhoan; Park, Jong Hyeon

doi:10.1109/IROS.2014.6942853

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Oscillation reduction scheme for wearable robots employing linear actuators and sensors

Choo, Junghoon;
Jeong, Dong-Hyun;
Jeong, Seungwoo;
Chu, Gilwhoan;
Park, Jong Hyeon

Citations

SCOPUS

1

초록

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 sensor position from the cylinder to the joint, and a wire-pulley system that adjusts the moment arm with a mechanical impedance compensation are proposed. Finally, simulations and experiments are done for demonstrating oscillation reduction by using the DSME wearable robot.

키워드

Actuators; Compliance control; Compliant mechanisms; Intelligent robots; Joints (anatomy); Oscillating cylinders; Robots; Actuators and sensors; Joint angle; Mechanical impedances; Oscillation reductions; Pulley systems; Sensor position; Torque sensors; Wearable robots; Linear actuators

제목: Oscillation reduction scheme for wearable robots employing linear actuators and sensors

저자: Choo, Junghoon; Jeong, Dong-Hyun; Jeong, Seungwoo; Chu, Gilwhoan; Park, Jong Hyeon

DOI: 10.1109/IROS.2014.6942853

발행일: 2014-09

유형: Conference Paper

저널명: IEEE International Conference on Intelligent Robots and Systems

페이지: 2160 ~ 2165