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Robust stable control of haptic devices based on transparency maximization
, Article ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010, Vancouver, BC, 12 November 2010 through 18 November 2010 ; Volume 8, Issue PARTS A AND B , 2010 , Pages 773-780 ; 9780791844458 (ISBN) ; Ahmadian, M ; Vossoughi, G ; Sharif University of Technology
2010
Abstract
Performance of a haptic device is evaluated based on the concept of transparency. Stability of a haptic device prevalently has been evaluated based on the passivity criterion. Due to conservativeness of passivity, it appears as an obstacle to improve transparency. In this paper, passivity is suggested to be replaced by the complementary stability criterion which accounts for the robust stability of the interaction in the presence of uncertain user hand dynamics. In this respect, an algorithm is proposed which guarantees transparency of the haptic device in a stable manner. Assuming that the dynamics of the device is known, a certain compensatory structure is assigned. This special structure...
Achieving transparency in series elastic actuator of sharif lower limb exoskeleton using LLNF-NARX model
, Article 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 26 October 2016 through 28 October 2016 ; 2017 , Pages 398-403 ; 9781509032228 (ISBN) ; Ghaffari, S ; Vossoughi, G ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2017
Abstract
Nowadays, exoskeletons have been gaining popularity due to their potential use in rehabilitation and augmentation. These robots often utilize series elastic actuators to facilitate compliant interaction with the human. Numerous studies have been carried out with the purpose of identification and control of these type of actuators. The goal of this paper is to provide a method for dynamic modeling and identification of series elastic actuators. This model is then used in the control loop as a feed-forward term to eliminate the actuator's dynamics. Each series elastic actuator used in the Sharif wearable robot, uses a brushless DC motor, a torsional spring, a harmonic drive, a timing belt, a...