Force controlled series elastic actuators (SEAs) arewide used components of novel physical human-robot interaction(pHRI) applications such as assistive and rehabilitation robotics.These systems are characterized by the presence of the “humanin the loop” so that control response and stability depend onuncertain human dynamics. A common approach to guaranteestability is to use a passivity-based (PB) controller. Unfortunatelyexisting PB controllers for SEAs do not define the performance ofthe torque/force loop. We propose a method to obtain predictableforce/torque dynamics basing on adaptive control and oversimplifiedhuman models. We propose a class of stable humanadaptivealgorithms and we experimentally show advantages ofthe proposed approach.

Human-Adaptive Force Control of Series Elastic Actuators

CALANCA, Andrea;FIORINI, Paolo
2014-01-01

Abstract

Force controlled series elastic actuators (SEAs) arewide used components of novel physical human-robot interaction(pHRI) applications such as assistive and rehabilitation robotics.These systems are characterized by the presence of the “humanin the loop” so that control response and stability depend onuncertain human dynamics. A common approach to guaranteestability is to use a passivity-based (PB) controller. Unfortunatelyexisting PB controllers for SEAs do not define the performance ofthe torque/force loop. We propose a method to obtain predictableforce/torque dynamics basing on adaptive control and oversimplifiedhuman models. We propose a class of stable humanadaptivealgorithms and we experimentally show advantages ofthe proposed approach.
2014
Human robot interaction, adaptive control
File in questo prodotto:
File Dimensione Formato  
AdaptiveControlFinal-2.pdf

accesso aperto

Tipologia: Documento in Pre-print
Licenza: Accesso ristretto
Dimensione 3.36 MB
Formato Adobe PDF
3.36 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/659775
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 58
  • ???jsp.display-item.citation.isi??? 44
social impact