id:"swepub:oai:DiVA.org:hig-27633"
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- Masud, NaumanKTH,Högskolan i Gävle,Elektronik,Department of Robotics, Perception and Learning, Royal Institute of Technology, Stockholm, Sweden,Robotik, perception och lärande, RPL,Univ Gävle, Dept Elect Math & Sci, S-80176 Gävle, Sweden (författare)
Disturbance observer based dynamic load torque compensator for assistive exoskeletons
- Artikel/kapitelEngelska2018
Förlag, utgivningsår, omfång ...
- Elsevier Ltd,2018
- printrdacarrier
Nummerbeteckningar
- LIBRIS-ID:oai:DiVA.org:hig-27633
- https://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-27633URI
- https://doi.org/10.1016/j.mechatronics.2018.07.003DOI
- https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-237104URI
Kompletterande språkuppgifter
- Språk:engelska
- Sammanfattning på:engelska
Ingår i deldatabas
- SwePubSwePub
Klassifikation
Anmärkningar
- Ambient Assisted Living (AAL) Program Grant no: AAL-2013-6-042
- QC 20181024
- In assistive robotics applications, the human limb is attached intimately to the robotic exoskeleton. The coupled dynamics of the human-exoskeleton system are highly nonlinear and uncertain, and effectively appear as uncertain load-torques at the joint actuators of the exoskeleton. This uncertainty makes the application of standard computed torque techniques quite challenging. Furthermore, the need for safe human interaction severely limits the gear ratio of the actuators. With small gear ratios, the uncertain joint load-torques cannot be ignored and need to be effectively compensated. A novel disturbance observer based dynamic load-torque compensator is hereby proposed and analysed for the current controlled DC-drive actuators of the exoskeleton, to effectively compensate the said uncertain load-torques at the joint level. The feedforward dynamic load-torque compensator is proposed based on the higher order dynamic model of the current controlled DC-drive. The dynamic load-torque compensator based current controlled DC-drive is then combined with a tailored feedback disturbance observer to further improve the compensation performance in the presence of drive parametric uncertainty. The proposed compensator structure is shown both theoretically and practically to give significantly improved performance w.r.t disturbance observer compensator alone and classical static load-torque compensator, for rated load-torque frequencies up to 1.6 Hz, which is a typical joint frequency bound for normal daily activities for elderly. It is also shown theoretically that the proposed compensator achieves the improved performance with comparable reference current requirement for the current controlled DC-drive.
Ämnesord och genrebeteckningar
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Robotteknik och automation hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Robotics hsv//eng
- Disturbance observer
- Exoskeleton
- Load torque compensator
- Serial manipulator
- Actuators
- DC motors
- Dynamic loads
- Electric machine control
- Electric machine theory
- Joints (anatomy)
- Manipulators
- Robotics
- Torque
- Torque measurement
- Application of standards
- Compensation performance
- Compensator structure
- Higher-order dynamics
- Load torques
- Parametric uncertainties
- Serial manipulators
- Exoskeleton (Robotics)
Biuppslag (personer, institutioner, konferenser, titlar ...)
- Smith, ChristianKTH,Robotik, perception och lärande, RPL,Department of Robotics, Perception and Learning, Royal Institute of Technology, Stockholm, Sweden(Swepub:kth)u1abfy6f (författare)
- Isaksson, MagnusHögskolan i Gävle,Elektronik,Univ Gävle, Dept Elect Math & Sci, S-80176 Gävle, Sweden.(Swepub:hig)min (författare)
- Högskolan i GävleElektronik (creator_code:org_t)
Sammanhörande titlar
- Ingår i:Mechatronics (Oxford): Elsevier Ltd54, s. 78-930957-41581873-4006
Internetlänk
- https://doi.org/10.1016/j.mechatronics.2018.07.003Fulltext
- https://doi.org/10.1016/j.mechatronics.2018.07.003
- https://kth.diva-portal.org/smash/get/diva2:1258261/FULLTEXT01.pdffulltext:print
- https://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-27633
- https://doi.org/10.1016/j.mechatronics.2018.07.003
- https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-237104
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