期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 24, 期 5, 页码 2215-2226出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2019.2932312
关键词
Exoskeletons; Torque; Actuators; Safety; Perturbation methods; Timing; Robustness; Series elastic actuator with clutch (SEAC); singular perturbation control; torque control; wearable hip exoskeleton
类别
资金
- NSF [1406750]
- National Natural Science Foundation of China [51505469]
- Research Project of State Key Laboratory of Mechanical System and Vibration [MSV201905]
- NC State University Faculty Scholar Program, CLEAR Core
Transparency and guaranteed safetyare important requirements in the design of wearable exoskeleton actuators for individuals who have lower limb deficits but still maintain a certain level of voluntary motor control. Specifically, precision in torque delivery timing and magnitude, robustness, disturbance rejection, and repeatability are desired in the actuator design and control. Motivated by these needs, this study aims to develop a series of elastic actuatorswith clutch(SEAC) thatcan precisely generate the desired assistance in terms of both timing and torque magnitude for a wearable hip exoskeleton and guarantee the wearers safety at the same time. The proposed mechanical design improves actuator transparency and safety by a mechanical clutch that automatically disengages the transmission when needed. A newtorquecontrol for the SEAC,based on singular perturbationtheory with flexible compensation techniques, is proposed to precisely control the assistive torque by rejecting the undesired human motion disturbance. The mechanical design of the proposed device and the design of asingular perturbationcontrol algorithm are discussed, and the SEAC performance is verified by experiments. Experimental results, derived from a test with a human subject, are presented to demonstrate theprecision of the assistive torqueand timingcontrolof the SEAC while interacting with a human wearer.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据