Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model

Name: Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
Author: Doppmann, C., Uğurlu, Regaip Barkan, Hamaya, M., Teramae, T., Noda, T., Morimoto, J.

İsim	Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
Yazar	Doppmann, C., Uğurlu, Regaip Barkan, Hamaya, M., Teramae, T., Noda, T., Morimoto, J.
Basım Tarihi:	2015
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-4799-6923-4
Kayıt Numarası	d146e452-c1ea-44a5-8f7b-c72d0bfb3cce
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 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

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Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model

Yazar Doppmann, C., Uğurlu, Regaip Barkan, Hamaya, M., Teramae, T., Noda, T., Morimoto, J.

Basım Tarihi 2015

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-4799-6923-4

Kayıt Numarası d146e452-c1ea-44a5-8f7b-c72d0bfb3cce

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 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