DocumentCode
1832362
Title
Design and torque-mode control of a cable-driven rotary series elastic actuator for subject-robot interaction
Author
Junkai Lu ; Haninger, Kevin ; Wenjie Chen ; Tomizuka, Masayoshi
Author_Institution
Dept. of Mech. Eng., Univ. of California, Berkeley, Berkeley, CA, USA
fYear
2015
fDate
7-11 July 2015
Firstpage
158
Lastpage
164
Abstract
To achieve a compact, lightweight and compliant actuator design for intrinsically safe subject-robot interactions, a Bowden cable-driven rotary series elastic actuator is proposed in this paper. To realize the zero output torque control of the proposed actuator in the presence of variable friction of the Bowden cable, a disturbance observer based torque-mode control algorithm is developed and analyzed. The effectiveness of the proposed design is verified by experiments with a human subject.
Keywords
actuators; elasticity; friction; observers; robots; torque control; Bowden cable-driven rotary series elastic actuator; compliant actuator design; disturbance observer; subject-robot interactions; torque-mode control algorithm; variable friction; zero output torque control; Actuators; DC motors; Damping; Friction; Joints; Stability analysis; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
Conference_Location
Busan
Type
conf
DOI
10.1109/AIM.2015.7222525
Filename
7222525
Link To Document