41 0

Oscillation Reduction Scheme for Wearable Robots Employing Linear Actuators and Sensors

Title
Oscillation Reduction Scheme for Wearable Robots Employing Linear Actuators and Sensors
Author
박종현
Keywords
Joints; Robot sensing systems; Force; Actuators; Torque
Issue Date
2014-09
Publisher
IEEE
Citation
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014 Sept[2014], P.2160-2165
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 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.
URI
http://ieeexplore.ieee.org/document/6942853/http://hdl.handle.net/20.500.11754/52682
ISBN
978-1-4799-6934-0; 978-1-4799-6935-7
ISSN
2153-0858; 2153-0866
DOI
10.1109/IROS.2014.6942853
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE