NDLI: Compliant motion control for a compliant rehabilitation system

Content Provider	IEEE Xplore Digital Library
Author	Dongwon Kim
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA (Dongwon Kim)
Abstract	In the previous study [1], an arm exoskeleton was proposed to be worn across the elbow joint of an amputee's residual limb using a pneumatic circuit. The pneumatic circuit provides not only the elastic element in a series elastic actuator (SEA), but also a flexible power transmission. The use of a customised cylinder on the off-grounded exoskeleton, however, imposes restrictions on the range of motion and reducing weight. In this study, a simple and light rotary pneumatic transmission is developed to be replaced with the cylinder. This device increases the range of motion. Also, control strategies for the pneumatic system is analyzed, focusing on compliance. Based on the positive effect of impedance control augmented with dynamics compensation on further reducing the driving-point impedance, an impedance controller for the system is proposed. The controller is model-free, robust, and simple to implement. A simulation study is provided to validate the efficacy of the impedance controller for the pneumatic circuit system for an elbow exoskeleton.
Starting Page	422
Ending Page	427
File Size	352747
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281236
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Frequency modulation Exoskeletons Pneumatic systems Iron Impedance Robots
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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

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