Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller

Name: Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
Author: Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Morimoto, J.

İsim	Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
Yazar	Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Morimoto, J.
Basım Tarihi:	2015
Basım Yeri	- IEEE
Konu	Control nonlinearities, Elastic constants, Force control, Force feedback
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-4799-9994-1
Kayıt Numarası	307339f9-6cee-4c53-8af3-3f56a8751ee2
Lokasyon	Mechanical Engineering
Tarih	2015
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, two contributions are presented: i) A stable force feedback controller that can cope with inherent PAM nonlinearities is synthesized using the dissipativity theory, for each PAM unit. ii) On top of this force feedback controller, a mathematical formulation is developed to compute reference force inputs that correspond to desired joint torque and joint stiffness inputs, concerning both agonist and antagonist PAMs. This strategy enables us to introduce real-time sensory feedback; torque and stiffness control is addressed by means of PAM force feedback control with guaranteed stability. To validate the proposed control scheme, a series of experiments were conducted on an experimental setup. As the result, the controller exhibited favorable torque and stiffness tracking in real-time, demonstrating that it could meet the performance criteria to power exoskeleton systems.
DOI	10.1109/IROS.2015.7353586

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Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller

Yazar Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Morimoto, J.

Basım Tarihi 2015

Basım Yeri - IEEE

Konu Control nonlinearities, Elastic constants, Force control, Force feedback

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-4799-9994-1

Kayıt Numarası 307339f9-6cee-4c53-8af3-3f56a8751ee2

Lokasyon Mechanical Engineering

Tarih 2015

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, two contributions are presented: i) A stable force feedback controller that can cope with inherent PAM nonlinearities is synthesized using the dissipativity theory, for each PAM unit. ii) On top of this force feedback controller, a mathematical formulation is developed to compute reference force inputs that correspond to desired joint torque and joint stiffness inputs, concerning both agonist and antagonist PAMs. This strategy enables us to introduce real-time sensory feedback; torque and stiffness control is addressed by means of PAM force feedback control with guaranteed stability. To validate the proposed control scheme, a series of experiments were conducted on an experimental setup. As the result, the controller exhibited favorable torque and stiffness tracking in real-time, demonstrating that it could meet the performance criteria to power exoskeleton systems.

DOI 10.1109/IROS.2015.7353586