外骨骼
扭矩
动力外骨骼
执行机构
控制理论(社会学)
控制工程
控制器(灌溉)
可穿戴计算机
工程类
机器人学
计算机科学
前馈
模拟
机器人
人工智能
控制(管理)
农学
物理
生物
热力学
嵌入式系统
作者
Inseung Kang,Reese Peterson,Kinsey Herrin,Anirban Mazumdar,Aaron Young
摘要
Abstract Series elastic actuators (SEAs) are increasingly popular in wearable robotics due to their high fidelity closed-loop torque control capability. Therefore, it has become increasingly important to characterize its performance when used in dynamic environments. However, the conventional design approach does not fully capture the complexity of the entire exoskeleton system. These limitations stem from identifying design criteria with inadequate biomechanics data, utilizing an off-the-shelf user interface, and applying a benchtop-based proportional-integral-derivative control for actual low-level torque tracking. While this approach shows decent actuator performance, it does not consider human factors such as the dynamic back-driving nature of human-exoskeleton systems as well as soft human tissue dampening during the load transfer. Using holistic design guidelines to improve the SEA-based exoskeleton performance during dynamic locomotion, our final system has an overall mass of 4.8 kg (SEA mass of 1.1 kg) and can provide a peak joint torque of 108 Nm with a maximum velocity of 5.2 rad/s. Additionally, we present a user state-based feedforward controller to further improve the low-level torque tracking for diverse walking conditions. Our study results provide future exoskeleton designers with a foundation to further improve SEA-based exoskeleton’s torque tracking response for maximizing human-exoskeleton performance during dynamic locomotion.
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