NDLI: Impedance Compensation of SUBAR for Back-Drivable Force-Mode Actuation

Content Provider	IEEE Xplore Digital Library
Author	Kyoungchul Kong Hyosang Moon Beomsoo Hwang Doyoung Jeon Tomizuka, M.
Copyright Year	2004
Abstract	The Sogang University biomedical assistive robot (SUBAR), which is an advanced version of the exoskeleton for patients and the old by Songang (EXPOS) is a wearable robot developed to assist physically impaired people. It provides a person with assistive forces controlled by human intentions. If a standard geared DC motor is applied, however, the control efforts will be used mainly to overcome the resistive forces caused by the friction, the damping, and the inertia in actuators. In this paper, such undesired properties are rejected by applying a flexible transmission. With the proposed method, it is intended that an actuator exhibits zero impedance without friction while generating the desired torques precisely. Since the actuation system of SUBAR has a large model variation due to human-robot interaction, a control algorithm for the flexible transmission is designed based on a robust control method. In this paper, the mechanical design of SUBAR, including the flexible transmission and its associated control algorithm, are presented. They are also verified by experiments.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	512
Ending Page	521
Page Count	10
File Size	866010
File Format	PDF
ISSN	15523098
Volume Number	25
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Robots Force control Friction Actuators Algorithm design and analysis Exoskeletons Humans DC motors Damping mechanical impedance Exoskeleton force-mode actuation human–robot interaction
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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