NDLI: Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model

Content Provider	IEEE Xplore Digital Library
Author	Doppmann, C. Ugurlu, B. Hamaya, M. Teramae, T. Noda, T. Morimoto, J.
Copyright Year	2015
Description	Author affiliation: Dept. of Brain Robot Interface, Adv. Telecommun. Res. Inst. Int. (ATR), Kyoto, Japan (Doppmann, C.; Ugurlu, B.; Hamaya, M.; Teramae, T.; Noda, T.; Morimoto, J.)
Abstract	This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional spring-loaded flywheel model is presented to encapsulate both approximated angular momentum and variable physical stiffness, which are crucial parameters in describing the postural balance. In particular, the incorporation of physical compliance enables us to provide three main contributions: i) A mathematical formulation is developed to express the relation between the dynamic balance criterion ZMP and the physical ankle joint stiffness. Therefore, balancing control can be interpreted in terms of ankle joint stiffness regulation. ii) `Variable physical' stiffness is utilized in the bipedal robot balance control task for the first time in the literature, to the authors' knowledge. iii) The variable physical stiffness strategy is compared with the optimal constant stiffness strategy by conducting experiments on our exoskeleton robot. The results indicate that the proposed method provides a favorable balancing control performance to cope with unperceived perturbations, in terms of center of mass position regulation, ZMP error and mechanical power.
Starting Page	5551
Ending Page	5556
File Size	1637910
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139975
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Joints Exoskeletons Mathematical model Actuators Reactive power Optimized production technology
Content Type	Text
Resource Type	Article

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
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Comparison of controllable transmission ratio type variable stiffness actuator with antagonistic and pre-tension type actuators for the joints exoskeleton robots

Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton

A fast kinematic-based control method for lower-limb power augmentation exoskeleton

Body Extender: Whole body exoskeleton for human power augmentation

A Study on EMG-Based Control of Exoskeleton Robots for Human Lower-limb Motion Assist

Modeling and control of a lower limb exoskeleton with two degrees of freedom

Model and control of the ELLTIO with two degrees of freedom

Modeling, simulation & control of human lower extremity exoskeleton

Directional stiffness attachment design for an upper limb exoskeleton

Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model

Similar Documents

Comparison of controllable transmission ratio type variable stiffness actuator with antagonistic and pre-tension type actuators for the joints exoskeleton robots

Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton

A fast kinematic-based control method for lower-limb power augmentation exoskeleton

Body Extender: Whole body exoskeleton for human power augmentation

A Study on EMG-Based Control of Exoskeleton Robots for Human Lower-limb Motion Assist

Modeling and control of a lower limb exoskeleton with two degrees of freedom

Model and control of the ELLTIO with two degrees of freedom

Modeling, simulation & control of human lower extremity exoskeleton

Directional stiffness attachment design for an upper limb exoskeleton

Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model