Author
Doppmann, C., Uğurlu, Regaip Barkan, Hamaya, M., Teramae, T., Noda, T., Morimoto, J.
Publication Date
2015
Publication Place
-
IEEE
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-1-4799-6923-4
Record ID
d146e452-c1ea-44a5-8f7b-c72d0bfb3cce
Library Location
Mechanical Engineering
Date
2015
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
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.
DOI
10.1109/ICRA.2015.7139975
